CN116269087A

CN116269087A - Equipment self-cleaning starting method, cleaning system, base station and cleaning equipment

Info

Publication number: CN116269087A
Application number: CN202211105466.9A
Authority: CN
Inventors: 王远; 吴培; 闾浩; 蒋洪彬
Original assignee: Tineco Intelligent Technology Co Ltd
Current assignee: Tineco Intelligent Technology Co Ltd
Priority date: 2022-09-09
Filing date: 2022-09-09
Publication date: 2023-06-23

Abstract

The embodiment of the application provides a self-cleaning starting method, a cleaning system, a base station and cleaning equipment. Wherein, the method includes: detecting whether the cleaning device is located at a set position at the base station; detecting a communication link with the cleaning device; if the cleaning equipment is detected to be positioned at the set position and the communication link meets the communication requirement, the base station and the cleaning equipment are determined to be successfully docked; transmitting an instruction for starting a self-cleaning function to the cleaning device through the communication link; a cleaning function is initiated that assists the cleaning device in self-cleaning. According to the technical scheme provided by the embodiment of the application, the base station (or the cleaning equipment) has the function of identifying whether the base station and the cleaning equipment are successfully docked, and on the basis, the automatic starting cleaning function of the equipment (such as the base station) is realized, so that the cleaning operation is simplified, and the user experience can be improved.

Description

Equipment self-cleaning starting method, cleaning system, base station and cleaning equipment

Technical Field

The application relates to the technical field of cleaning, in particular to a self-cleaning starting method, a cleaning system, a base station and cleaning equipment for equipment.

Background

With the improvement of the demands of people on the convenience of life, various movable cleaning devices enter the life of people. Taking a cleaning machine as an example, most cleaning machines are provided with a solution bucket and a sewage bucket, and when cleaning operation is carried out, solution is sprayed to the ground through the solution bucket to clean the ground, and sewage generated in the cleaning process is collected into the sewage bucket.

Most cleaners require manual removal of the wastewater tank after use and removal of the wastewater tank for disposal and cleaning. At present, a scheme exists, a user can move the cleaning machine to a corresponding base station to be in butt joint with the base station, and the base station is utilized to realize automatic sewage discharge and cleaning of the sewage bucket. However, the base station in the prior art lacks a function of identifying the butt joint of the cleaning machine and the base station, cannot automatically start to discharge sewage to the sewage bucket, and has poor user experience.

Disclosure of Invention

The application provides a device self-cleaning starting method, a cleaning system, a base station and cleaning equipment, which are used for realizing self-cleaning automatic starting of the base station (or the cleaning equipment) on the basis of identifying that the base station and the cleaning equipment are successfully docked, simplifying cleaning operation and improving user experience.

In one embodiment of the present application, a device self-cleaning starting method is provided, applicable to a base station, and the method includes:

Detecting whether the cleaning device is located at a set position at a base station;

detecting a communication link with the cleaning device;

if the cleaning equipment is detected to be positioned at the set position and the communication link meets the communication requirement, the base station and the cleaning equipment are determined to be successfully docked;

transmitting an instruction for starting a self-cleaning function to the cleaning device through the communication link;

a cleaning function is initiated that assists the cleaning device in self-cleaning.

In another embodiment of the present application, there is also provided a self-cleaning initiation method of an apparatus, suitable for cleaning an apparatus, the method comprising:

detecting a communication link with a base station;

determining whether a set location is located at a base station;

if the communication link meets the communication requirement and is determined to be at the set position, starting a self-cleaning function;

and sending a starting instruction to the base station through the communication link so as to enable the base station to start a cleaning function for assisting the self-cleaning of the cleaning equipment.

In yet another embodiment of the present application, there is also provided a cleaning system comprising:

a base station for detecting whether the cleaning device is located at a set position at the base station; detecting a communication link with the cleaning device; if the cleaning equipment is detected to be positioned at the set position and the communication link meets the communication requirement, the base station and the cleaning equipment are determined to be successfully docked; transmitting an instruction for starting a self-cleaning function to the cleaning device through the communication link; a cleaning function is initiated that assists the cleaning device in self-cleaning.

And the cleaning device is used for responding to the instruction sent by the cleaning device to start the self-cleaning function and starting the self-cleaning function.

a cleaning device for detecting a communication link with a base station; determining whether a set location is located at a base station; if the communication link meets the communication requirement and is determined to be at the set position, starting a self-cleaning function; transmitting a start instruction to the base station through the communication link;

and the base station is used for responding to the starting instruction and starting a cleaning function for assisting the self-cleaning of the cleaning equipment.

In yet another embodiment of the present application, there is also provided a base station including: the base station comprises a base station main body and a base for bearing cleaning equipment, wherein a controller and a memory are arranged on the base station main body; the memory is used for storing a computer program, and the controller is coupled with the memory and used for executing the computer program to execute the steps in the self-cleaning starting method of the equipment provided by one embodiment of the application.

In yet another embodiment of the present application, there is also provided a cleaning apparatus including: an equipment body, a controller and a memory arranged on the equipment body; the memory is used for storing a computer program, and the controller is coupled with the memory and used for executing the computer program for executing the steps in the self-cleaning starting method of the equipment provided by the other embodiment of the application.

The embodiment of the application also provides a self-cleaning method of the cleaning equipment, which is applied to a self-cleaning system and comprises the following steps: the cleaning device at least comprises a sewage bucket and a ground brush; the method comprises the following steps:

in the case where the cleaning apparatus is docked with the base station, the following self-cleaning operations are performed in order:

performing first self-cleaning on the sewage bucket;

self-cleaning the floor brush;

and performing secondary self-cleaning on the sewage bucket.

The embodiment of the application also provides a base station, which comprises: the cleaning device comprises a base station main body and a base for bearing cleaning equipment, wherein a controller and a memory are arranged on the base station main body, the memory is used for storing a computer program, and the controller is coupled with the memory and used for executing the computer program so as to execute the steps in the self-cleaning method of the cleaning equipment.

The embodiment of the application also provides a cleaning device, which comprises: the sewage treatment device comprises a handle, a machine body and a cleaning assembly, wherein the machine body is at least provided with a sewage bucket and a treatment system, and the cleaning assembly at least comprises a ground brush; the processor system is configured to:

determining if the wastewater tank is in a full water state with the cleaning device docked with the base station;

Sending indication information of whether the sewage bucket is in a water full state to the base station so that the base station carries out first self-cleaning on the sewage bucket according to the information; and

when a cleaning instruction sent by the base station is received, self-cleaning the floor brush, wherein the cleaning instruction is sent by the base station under the condition that the first self-cleaning of the sewage bucket is determined to be completed;

and sending a notification message of the completion of the self-cleaning of the floor brush to the base station so that the base station can continuously perform secondary self-cleaning on the sewage bucket.

According to the technical scheme, the base station can determine that the base station is successfully docked with the cleaning equipment on the basis that the cleaning equipment is located at the set position and the communication link meets the communication requirement is detected by detecting whether the cleaning equipment is located at the set position or not and detecting the communication link between the base station and the cleaning equipment, and further sends an instruction for starting the self-cleaning function to the cleaning equipment through the communication link and starts the cleaning function for assisting the self-cleaning of the cleaning equipment. Therefore, the base station in the scheme has the function of identifying whether the butt joint with the cleaning equipment is successful or not, and can automatically start the cleaning function, so that the cleaning operation is simplified, and the user experience can be improved.

In another technical scheme provided by the embodiment of the application, the cleaning device can detect a communication link between the cleaning device and the base station and determine whether the cleaning device is located at a set position of the base station or not; and the self-cleaning function can be automatically started on the basis that the communication link meets the communication requirement and is determined to be at the set position, and a starting instruction is sent to the base station through the communication link, so that the base station starts the cleaning function for assisting the self-cleaning of the cleaning equipment. Therefore, the cleaning device in the scheme has the function of identifying whether the butt joint with the cleaning device is successful or not, and can automatically start the cleaning function, so that the cleaning operation is effectively simplified, and the user experience can be improved.

In still another technical scheme that this application embodiment provided, to the clean problem of sewage bucket on the cleaning equipment, improve the structure and the function of basic station, under the cooperation of basic station and cleaning equipment, can realize the automatically cleaning to the cleaning equipment complete machine, both include the automatically cleaning to cleaning component on the cleaning equipment, also include the automatically cleaning to the sewage bucket on the cleaning equipment, need not user intervention in the whole automatically cleaning process, simplified the clean operation to the cleaning equipment, improve the clean efficiency of sewage bucket and complete machine.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed to be utilized in the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1a is a schematic structural diagram of a cleaning device system, a cleaning device and a base station according to an embodiment of the present application;

fig. 1b is a schematic diagram illustrating a state in which a cleaning device is docked with a base station in a cleaning device system according to an embodiment of the present application;

fig. 1c is a schematic structural diagram of another cleaning device system, a cleaning device and a base station according to an embodiment of the present application;

FIG. 1d is a schematic view of a cleaning apparatus (corresponding to the cleaning apparatus in the cleaning system shown in FIG. 1 c) according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a partial structure of a cleaning device according to an embodiment of the present disclosure when docking with a base station;

fig. 3 is a schematic flow chart of a self-cleaning starting method of a device according to an embodiment of the present application;

FIG. 4a is a schematic diagram illustrating the operation of the sensing element and the triggering element according to the embodiment of the present application;

FIG. 4b is a schematic diagram of a sensing signal generated by a sensing element according to an embodiment of the present disclosure along with the approach of a trigger element;

fig. 5a is a schematic circuit diagram of a base station and a cleaning device after docking according to an embodiment of the present application;

FIG. 5b is a schematic diagram of a charging signal in a modified form according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a charging signal of another variation shown in an embodiment of the present application;

fig. 7 is a schematic flow chart of another self-cleaning starting method of the device according to the embodiment of the present application;

FIG. 8a is a schematic flow chart of a self-cleaning method of a cleaning apparatus according to an embodiment of the present application;

FIG. 8b is a schematic flow chart of another self-cleaning method of a cleaning apparatus according to an embodiment of the present application;

FIGS. 9 a-9 d are schematic flow diagrams of a self-cleaning method for several other cleaning apparatuses according to embodiments of the present application;

FIGS. 9 e-9 f are schematic views of a partial structure and a liquid flow direction of a cleaning device according to an embodiment of the present disclosure when the cleaning device is docked with a base station;

FIG. 10 is a schematic flow chart of a self-cleaning method of a cleaning apparatus from the perspective of the cleaning apparatus according to an embodiment of the present application;

FIG. 11a is a schematic flow chart of a self-cleaning method of a cleaning apparatus according to an embodiment of the present application;

FIG. 11b is a schematic flow chart of another self-cleaning method of a cleaning apparatus from the perspective of the cleaning apparatus according to an embodiment of the present application.

Detailed Description

At present, some cleaning devices (such as floor cleaners) are used for cleaning the sewage in the sewage tank of the cleaning device, so as to prevent the sewage in the sewage tank from being placed for a long time to generate peculiar smell and bacteria, users need to detach the sewage tank in a manual mode, then drain the sewage in the sewage tank, and clean the sewage tank and a corresponding sewage channel. Although some advanced cleaning devices have self-cleaning function, after the cleaning device is used, a user can place the cleaning device on a corresponding base station and can start a self-cleaning mode to perform self-cleaning (such as cleaning a rolling brush, a sewage channel and the like). However, since the base station has only a function of charging the cleaning apparatus, the self-cleaning final sewage is still recovered in the sewage tank, so that a manual operation is still required to drain and clean the sewage tank after the self-cleaning is finished. The sewage discharging and cleaning process of the sewage bucket needs manual operation, so that the workload of cleaning operation of a user is increased, and the user experience is poor. Moreover, the manual cleaning may not be effective and the back and forth removal of the wastewater tank may also affect machine performance.

In order to achieve true self-cleaning of a machine that does not require any intervention from a user, there is a scheme in which a sewage draining structure is provided on a base station, and after a user moves a cleaning device to the base station to dock the cleaning device with the base station, the sewage draining structure is connected with a sewage tank of the cleaning device and automatically discharges sewage in cooperation with the sewage tank. However, the base station in the prior art lacks a function of identifying the butt joint of the cleaning equipment and the base station, cannot automatically start to drain the sewage bucket, and has poor user experience.

The base station (or the cleaning equipment) has the function of identifying the butt joint of the cleaning equipment and the base station, and the scheme of automatic self-cleaning function can be realized on the basis, so that the cleaning operation can be simplified, and the user experience is improved. In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.

In some of the flows described in the specification, claims, and drawings described above, a plurality of operations occurring in a particular order are included, and the operations may be performed out of order or concurrently with respect to the order in which they occur. The sequence numbers of operations such as 101, 102, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types. The term "or/and" in this application is merely an association relationship describing the association object, which means that three relationships may exist, for example: a and/or B are three cases that A can exist alone, A and B exist together and B exists alone; the character "/" in this application generally indicates that the associated object is an "or" relationship. It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements. Furthermore, the embodiments described below are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

Before describing the method embodiments provided in the embodiments of the present application, a system environment architecture to which the method embodiments are applied will be described.

Some embodiments of the present application provide a cleaning apparatus system, as shown in fig. 1a and 1c, comprising: cleaning device 10 and base station 20. The cleaning device 10 may be a hand-held cleaner, a self-moving cleaning device, an example of which is shown in fig. 1 a-1 d. The self-moving cleaning apparatus may be a cleaning robot, such as a mopping robot, a sweeping and mopping robot, etc., which is not limited in the embodiments of the present application. The base station 20 is a base station for use with the cleaning apparatus 10, such as the base station shown in figures 1a and 1c for use with a hand-held floor cleaning machine.

The cleaning apparatus 10 and the base station 20 can communicate with each other and perform information interaction. The communication manner between the cleaning device 10 and the base station 20 is not limited, for example, an infrared transceiver may be disposed on the cleaning device 10 and the base station 20, and communication is performed between the two via infrared signals; for another example, bluetooth modules are provided on both the cleaning apparatus 10 and the base station 20, and communication between the two may be performed through bluetooth signals; for another example, the cleaning device 10 and the base station 20 are both additionally provided with a WiFi module, and the two modules communicate through WiFi signals; for another example, the cleaning device 10 and the base station 20 may each be additionally provided with a mobile communication module, and the two may communicate with each other through a mobile communication network. Of course, the cleaning device 10 may also be communicatively connected to the base station 20 by wire. In addition to the above communication means, the cleaning device 10 and the base station 20 may communicate by other means, such as by means of a communication electrode (also called communication contact) or a charging electrode (also called charging contact), a wireless charging device, etc. For example, the base station may communicate with the cleaning device 10 by changing the charging mode when charging the cleaning device through the charging electrode. Regarding specific implementations of the communication between the base station 20 and the cleaning device 10 via charging electrodes (also called charging contacts), wireless charging means, etc., further details of other method embodiments will be provided, see further below.

In this embodiment, the cleaning device is a hand-held suction cleaning device, and in other embodiments, the cleaning device may be a cleaning device for cleaning various surfaces to be cleaned, such as a floor sweeping robot, a carpet cleaning device, a cloth cleaning device, and the like.

In this embodiment, the base station 20 may provide some basic services for the cleaning device 10, for example, the base station 20 may provide docking services for the cleaning device 10, and the cleaning device 10 may dock with the base station 20 when it is not necessary to perform a floor cleaning task; for another example, the base station 20 may also provide charging service for the cleaning device 10, and charging and energy storage may be performed simultaneously when the cleaning device 10 is parked at the base station 20, and of course, charging and energy storage may also be performed by returning to the base station 20 when the electric quantity of the cleaning device 10 is insufficient.

In addition to the basic service described above, in the embodiment of the present application, the functions of the base station 20 are further extended, and the base station 20 may cooperate with the cleaning device 10 to provide a complete cleaning service for the cleaning device 10. In order to achieve the purpose of providing the cleaning device 10 with the cleaning service of the whole machine, a plurality of hardware components, such as a water storage tank, a sewage draining tank, various pipelines communicated with the water storage tank, the sewage draining tank and the like, are additionally arranged on the base station 20; at the same time, the control logic of the base station 20 is improved, and the control logic related to providing the cleaning equipment 10 with the complete machine cleaning service is added to the base station 20, and is implemented in a software program mode. The base station 20 can provide the cleaning device 10 with the overall cleaning service by running the software programs and cooperating with hardware components added to provide the overall cleaning service for the cleaning device 10. The sewage draining groove refers to parts on the base station which are needed for assisting in draining sewage from the sewage bucket on the cleaning equipment, and the structure of the sewage draining groove is not limited, for example, the sewage draining groove can be a sewage draining structure containing a cavity or a sewage draining pipeline without the cavity. For the blowdown structure containing the cavity, the cavity has a certain volume, can accommodate a certain sewage amount, is convenient for carry out sewage discharge with a larger capacity, and can be flexibly arranged according to product requirements. In addition, as can be appreciated by those skilled in the art, the drain tank can flexibly select a drain structure including the cavity or a drain pipe not including the cavity according to application requirements or different scenes.

In the embodiment of the application, the base station 20 provides the cleaning device 10 with the complete machine cleaning service, which is to automatically perform the cleaning process on the cleaning device 10, and the cleaning operation of the cleaning device can be simplified without user intervention in the process, thereby improving the cleaning efficiency. The overall cleaning service provided for the cleaning device 10 mainly comprises two parts, namely self-cleaning of cleaning components on the cleaning device 10 and self-cleaning of a sewage tank on the cleaning device 10. The self-cleaning of the cleaning component mainly comprises the cleaning process of cleaning and drying the cleaning component, so that the self-cleaning task of the cleaning component of the cleaning device 10 is completed; the self-cleaning of the sewage bucket mainly refers to a cleaning process of discharging and cleaning the sewage bucket, namely, discharging sewage in the sewage bucket and flushing the sewage bucket clean, so that the self-cleaning task of the sewage bucket on the cleaning device 10 is automatically completed. Further, in the process that the base station 20 provides the cleaning apparatus 10 with the complete machine cleaning service, cleaning can be performed with respect to the suction passage between the sewage bucket and the cleaning assembly.

Based on the complete machine cleaning service that the base station 20 provided for the cleaning equipment 10, after the cleaning equipment 10 carries out the floor cleaning task and finishes, the user only needs to place the cleaning equipment 10 on the base station 20, and the base station 20 and the cleaning equipment 10 mutually cooperate and can accomplish the self-cleaning of cleaning assembly and the self-cleaning of sewage bucket automatically, after carrying out the self-cleaning action of cleaning assembly, can reach the cleaning purpose of cleaning assembly, after carrying out the self-cleaning action of sewage bucket, can reach the cleaning purpose of sewage bucket to the self-cleaning action of cleaning assembly and sewage bucket that this embodiment provided can also reach better cleaning effect. The user does not need to disassemble the sewage bucket for manual cleaning, the purpose of cleaning the sewage bucket can be achieved, and even self-cleaning of the whole cleaning equipment can be realized, so that the use experience of the user is greatly improved.

It should be noted that, in the whole machine cleaning service, the self-cleaning of the cleaning assembly and the self-cleaning of the sewage bucket may be related to each other or may be independent from each other. For example, the base station 20 may provide self-cleaning services of the sewer piping for the cleaning device 10 alone, or may provide self-cleaning services of the cleaning assembly for the cleaning device 10 alone. Of course, considering that the self-cleaning of the cleaning assembly depends on the sewage bucket, the sewage bucket is required to store sewage generated by the cleaning assembly in the self-cleaning process, so in a preferred embodiment, the two self-cleaning processes can be fused together to be completed in the same process, thereby realizing self-cleaning of the whole machine.

Further, the base station 20 can provide water injection service for the clean water bucket on the cleaning device 10 in addition to the overall cleaning service for the cleaning device 10. Therefore, when the clean water barrel needs to be supplemented with clean liquid, a user can automatically supplement the clean water barrel with the clean liquid without detaching the clean water barrel from the machine body. Here, the clean liquid in the clean water tank may be clean water or various cleaning liquids to which a cleaning agent is added, and is not limited thereto.

Further, the base station 20 can provide the cleaning service for the cleaning device 10 alone, and can also provide the water injection service for the clean water bucket of the cleaning device 10 alone; the cleaning device 10 may be provided with the complete machine cleaning service and the water filling service simultaneously in the same process, for example, the water filling service may be provided for the clean water tank of the cleaning device 10 together in the process of providing the complete machine cleaning service for the cleaning device 10.

It should be noted that, in the process that the base station 20 provides the cleaning device 10 with the complete cleaning service and/or the water filling service, the cleaning device 10 needs to communicate with the base station 20 to synchronize related information or status. The process of performing the self-cleaning of the whole machine by the cooperation of the cleaning device 10 and the base station 20 can be referred to in the following embodiments, and before describing the self-cleaning process of the whole machine, the structures of the cleaning device 10 and the base station 20 according to the embodiments of the present application will be briefly described with reference to fig. 1a and fig. 2.

The following provides a brief description of the cleaning apparatus 10 according to embodiments of the present application. As shown in fig. 1a to 1d, the cleaning device 10 comprises at least: a handle assembly 11, a body 12, a cleaning assembly 13, a treatment system (not shown), a fresh water bucket 16 and a waste water bucket 17 disposed on the body 12.

In this embodiment, the handle assembly 11 may be provided at the upper end of the body 12, or may be provided at the side (back, left or right) of the body 12. Alternatively, if the handle assembly 11 is disposed at the upper end of the body 12, the axial direction (the direction in which the center of gravity is located) thereof is parallel to the axial direction of the body 12.

Alternatively, the handle assembly 11 may include: a handle for the user's hand to grasp, and an extension bar connecting the handle to the body 12. Further, the length of the extension rod may be fixed or adjustable. Optionally, if the length of the extension rod is adjustable, the structure is a telescopic structure. Correspondingly, the user can flexibly adjust the length of the extension rod according to the self requirement.

In this embodiment, the processing system may be disposed within the fuselage or may be disposed on the surface of the fuselage, and the processing system is not illustrated in fig. 1 a. The processing system can be carried on a main board of the cleaning device, for example, the processing system can be a CPU, a controller or a GPU, and the processing system is a control system of the cleaning device and is mainly responsible for various control logics of the cleaning device and can control the use state and the working state of other components connected with the processing system. In the following embodiments, the cleaning apparatus 10 cooperates with the base station 20 to implement the self-cleaning process, and the operations performed by the cleaning apparatus 10 can be understood to be performed under the control of the processing system of the cleaning apparatus 10, and in the following embodiments, the cleaning apparatus 10 is described as an execution body, and those skilled in the art can understand that the execution body may also be the processing system of the cleaning apparatus 10.

In this embodiment, the cleaning assembly 13 includes a floor brush (or a roll brush), a water pump, and a floor brush motor; the floor brush is provided with a floor brush nozzle, the clean water barrel 16 is communicated with the floor brush nozzle through a water delivery pipeline, the water delivery pipeline comprises a hose connected between the clean water barrel and the floor brush nozzle, but the floor brush is not limited to, a water pump is arranged on the water delivery pipeline between the clean water barrel 16 and the floor brush nozzle. For ease of description and distinction, the water supply line between the water tub and the brush nozzle on the cleaning device is referred to as the first water supply line. When the floor cleaning task is executed, the floor brush motor drives the floor brush to rotate on one hand, floor cleaning is realized by means of friction force between the floor brush and the floor, and on the other hand, the water pump is driven to convey clean liquid in the clean water bucket 16 to the floor brush nozzle through the first water conveying pipeline, and the floor brush nozzle sprays the clean liquid to the floor and/or the floor brush to perform the floor cleaning task. After performing the cleaning task, the clean liquid becomes a dirty liquid, which is sucked by the suction nozzle on the cleaning assembly 13 and fed into the sewage bucket 17 through the suction channel. It should be noted that the object of the cleaning device to perform the cleaning task is not limited to the floor, but may be other cleaning objects such as a floor, a table top, etc. As shown in fig. 2, the suction channel 174, i.e., the air duct of the cleaning apparatus, may include a hose connected between the suction nozzle of the cleaning assembly 13 and the sewage bucket 17, but is not limited thereto.

In some alternative embodiments, a display may also be provided on the body 12, which is not illustrated in FIG. 1 a. The display is electrically connected with the processing system and is used for displaying the working state of the cleaning equipment, the electric quantity information and the working state information of at least one component on the cleaning equipment. The display may include at least one display area for displaying operational status information of the different components. Optionally, the operating status information of the at least one component includes at least one of: (1) liquid level information of the liquid storage device; (2) cleaning degree information of the cleaning object by the cleaning component; (3) power information of the power supply unit; (4) self-cleaning information of the cleaning device; (5) main motor power information; (6) cleaning the locked rotor information of the component; (7) operational status information of the communication component; (8) self-cleaning stage information. The liquid storage device can be a clean water bucket of the cleaning equipment or a sewage bucket of the cleaning equipment.

In the embodiments of the present application, the specific shape of the display is not limited. Alternatively, the display may be in a regular shape such as a circle, square, oval, trapezoid, or polygon, or any irregular shape, which is not illustrated herein.

Alternatively, the display may be fixedly disposed on the surface of the body 12 or telescopically disposed on the body 12. For example, the display may be provided on the top of the body, or may be provided on the front, left, or right of the body. Alternatively, if the display is disposed on top of the body 12, the plane of the display may be perpendicular or at an angle to the axis of the body 12. The main body 12 includes a main motor and a liquid storage device (e.g., a fresh water tank and a sewage tank), and optionally, a display is provided above the liquid storage device, i.e., the display is provided above the fresh water tank or the sewage tank, preferably, above the fresh water tank. Further, to meet the viewing angle of the user, a display may be provided in front of the handle assembly 11.

In the present embodiment, in order to realize self-cleaning of the sewage bucket 17, a drain 171 (as shown in fig. 1a or 1 c) is added to the bottom of the sewage bucket 17; accordingly, in order to automatically fill the fresh water tub 16, a water filling port (not shown) is additionally provided at the bottom of the main body 12 adjacent to the drain 171. The water filling port is communicated with a liquid outlet of the clean water barrel 16 through a liquid pipeline and is used for supplementing cleaning liquid for the clean water barrel 16 through the liquid outlet, and when the cleaning equipment cleans a surface to be cleaned, water in the clean water barrel 16 is discharged to the water outlet pipeline through the liquid outlet and is conveyed to the floor brush nozzle. Wherein, drain, water injection mouth need use with the hardware component cooperation that corresponds on the basic station. The positions of the drain and the water inlet are not limited, and may be set at positions convenient for use with corresponding components on the base station 20.

The following provides a brief description of the base station 20 according to the embodiment of the present application. As shown in fig. 1a or 1c, the base station 20 includes a base station main body 21 and a base 22 for supporting the cleaning apparatus 10. The base station main body 21 is provided with a controller and a memory, in which a computer program is stored, and the controller executes the computer program in the memory to realize various control logics for the base station 20, for example, the whole cleaning process for the cleaning apparatus 10 can be controlled and executed by the controller of the base station 20. The controller and memory are not illustrated in the various figures.

The base 22 may also be referred to as a base tray, and the base 22 is provided with a receiving groove 221 for receiving the cleaning assembly 13 (specifically, receiving the floor brush), and when the cleaning apparatus 10 is placed on the base 22, the floor brush in the cleaning assembly 13 is located in the receiving groove 221. In addition, the base 22 is further provided with a first charging portion 223, one end of the first charging portion 223 is used for docking with a second charging portion on the cleaning device 10, and the other end is connected to a power source end, which may be a charging power source or a mains power source in an environment where the base station 20 is located, which is not limited, so as to charge and store energy for the cleaning device 10 when the cleaning device 10 is parked at the base station 20. The first charging unit 223 may be a wireless charging interface, for implementing wireless charging. Further, other components, such as fastening members for fastening or stabilizing the cleaning device 10, may be provided on the base 22, not shown.

Further, referring to fig. 1a and 2, the base station main body 21 is provided with at least a water storage tank 211, a water injection valve 212 communicating with the water storage tank 211, a drain tank 213, and an inlet portion 214 of the drain tank 213; further, as shown in fig. 9e and 9f, the water storage tank 211 is connected to the sewage tank 213 via a third water supply line 219, and the other end of the sewage tank 213 is connected to a sewer pipe which is connected to a sewer or other sewage passage.

As shown in fig. 1b, when the cleaning apparatus 10 is docked with the base station 20, the inlet portion 214 of the drain tank 213 is docked with the drain outlet 171 of the sewage bucket 17 of the cleaning apparatus 10 when the cleaning apparatus 10 is placed on the base 22, so that when the sewage bucket 17 is self-cleaned, sewage in the sewage bucket 17 flows to the inlet portion 214 through the drain outlet 171, flows into the drain tank 213 through the inlet portion 214, and is finally discharged into a sewer or other drain through the drain tank 213. Alternatively, the drain may be provided in a lower region of the sidewall of the wastewater tank, in addition to the bottom of the wastewater tank.

As shown in fig. 1b, when the cleaning apparatus 10 is docked with the base station 20, the water filling port on the clean water tub 16 of the cleaning apparatus 10 is docked with the water filling valve 212 on the base station 20, which water filling valve 212 communicates with the water storage tank 211 on the base station 20, when the cleaning apparatus 10 is placed on the base station 22. In this way, in the state that the water injection valve 212 is opened, clean liquid in the water storage tank 211 can enter the clean water barrel 16 through the water injection valve 212 and the water injection port, so that automatic water injection is realized; in a state where the water filling valve 212 is closed, the water filling into the fresh water tub 16 is stopped. Alternatively, the water filling port may be provided on a bottom bracket of the fresh water bucket or the sewage bucket, not limited thereto.

Further, as shown in fig. 1b, the base station main body 21 of the base station 20 is further provided with a display 218, and the display 218 is electrically connected with the controller of the base station, so as to display the working state of the base station and the working state information of each component on the base station, and further, may display the information such as the stage and the step of the self-cleaning of the whole cleaning device.

Similarly, in the present embodiment, the specific shape of the display 218 on the base station 20 is not limited. Alternatively, the display 218 may be in a regular shape such as a circle, square, oval, trapezoid, or polygon, or any irregular shape, which is not illustrated herein. Alternatively, the display 218 may be fixedly provided on the surface of the base station body 21 or may be telescopically provided on the base station body 21. For example, the display 218 may be provided on the top of the base station body 21, or may be provided on the front, left, or right of the base station body 21. Alternatively, if the display 218 is disposed on the top of the base station body 21, the plane of the display may be perpendicular or at an angle to the axis of the base station body 21. In fig. 1b, a display 218 is illustrated as being provided on the top of the base station main body 21.

Further alternatively, as shown in fig. 2, a flushing nozzle 222 is provided inside the accommodation groove 221, and the flushing nozzle 222 communicates with the water storage tank 211 through the second water supply line 215. The second water supply line 215 may be a water pipe or a hose connected between the water tank 211 and the shower nozzle 222, and is not limited thereto. When the cleaning apparatus 10 is placed on the base 22, the clean liquid in the water storage tank 211 is conveyed to the flushing nozzle 222 through the second water conveying pipeline 215, the flushing nozzle 222 sprays the clean liquid onto the ground brush in the accommodating groove 221, the main motor of the cleaning apparatus is started, the liquid is recovered into the sewage bucket 17, and water is injected into the sewage bucket 17. In other embodiments, the brush may be self-cleaning in this manner without the use of water in the bucket.

Further alternatively, as shown in fig. 2, a moving mechanism 216 capable of opening and closing the sewage bucket 17 is provided on the base station main body 21. The drain outlet of the sewage bucket 17 is provided with a cover plate 172, the movement mechanism 216 corresponds to the cover plate on the sewage bucket 17, and the movement mechanism 216 can open the cover plate through movement, so that the drain outlet of the sewage bucket 17 is communicated with the drain tank 213; the movement mechanism 216 is operated in the opposite direction to close the cover plate of the sewage bucket 17, and the latch 173 on the sewage bucket locks the cover plate 172 in the closed state of the cover plate 172 to close the sewage bucket 17.

Further alternatively, as shown in fig. 2, a flushing device 217 for flushing the wastewater tank 17 is further provided on the base station main body 21, the flushing device 217 being provided corresponding to the wastewater outlet 171 of the wastewater tank, and the flushing device 217 being repeatedly movable toward the wastewater tank and extending into the wastewater tank from the wastewater outlet 171 in a state in which the cover 172 of the wastewater tank is opened, thereby flushing the wastewater tank.

The cleaning device 10 and base station 20 described above may include other components in addition to those described above. For example, one of the cleaning device 10 and the base station 20 may be further provided with a sensing means, and the other may be further provided with a triggering means adapted to the sensing means. Fig. 1c in combination with fig. 1d shows an example in which the base station 20 is provided with a sensor means 219 and the cleaning device 10 is provided with a trigger means 175.

The triggering part and the sensing part are components which can trigger or cooperate with each other to generate sensing signals, and the sensing signals can be different according to the relative positions between the triggering part and the sensing part. For example, the triggering component can be a magnetic component (such as a magnet), the sensing component can be a reed switch or a Hall element, and the reed switch or the Hall element can generate corresponding induction signals (such as current signals and voltage signals) by sensing magnetic signals of the magnetic component; the reed switch is a magnetic-sensitive special switch, and is generally composed of two soft magnetic metal reeds which are sealed in a glass tube. A schematic structural diagram of the reed switch E is shown in fig. 4a and 4 b. For another example, the triggering component can be a reflecting plate, and the sensing component can be a photoelectric switch; alternatively, the triggering component may be an infrared generator, the sensing component may be an infrared sensor, etc., and those skilled in the art may flexibly select the triggering component and the sensing component as long as they are ensured to trigger or cooperate with each other to generate the sensing signal.

The structures of the cleaning apparatus 10 and the base station 20 described above are only exemplary, and these structures are some of the structures related to the overall cleaning service, but it is not meant that the cleaning apparatus 10 and the base station 20 of the present embodiment include only the structures described above, nor that the cleaning apparatus 10 and the base station 20 must include all the structures described above.

Based on the above-mentioned related structures of the cleaning device 10 and the base station 20, the following embodiments of the present application provide several kinds of logic of the method for starting self-cleaning of the base station 20 or the cleaning device 10, and logic of the method for performing complete machine cleaning on the cleaning device 10 by the cooperation of the cleaning device 10 and the base station 20.

Fig. 3 is a schematic flow chart of a method for automatically cleaning and starting a device according to an embodiment of the present application, where the method is applicable to the base station 20 shown in fig. 1a or fig. 1c, and in a specific implementation, the method provided in the embodiment may be implemented by a controller (not shown in the drawings) disposed on the base station 20, where the controller may be, but is not limited to, a microcontroller, a singlechip, a CPU, and the like, and is not limited thereto. As shown in fig. 3, the self-cleaning starting method of the device comprises the following steps:

101. detecting whether a cleaning device is located at a set position at the base station;

102. detecting a communication connection with the cleaning device;

103. if the cleaning equipment is detected to be positioned at the set position and the communication link meets the communication requirement, the base station and the cleaning equipment are determined to be successfully docked;

104. transmitting an instruction for starting a self-cleaning function to the cleaning device through the communication link;

105. A cleaning function is initiated that assists the cleaning device in self-cleaning.

In practical applications, referring to fig. 1a or 1c, in order to fully automatically implement that the cleaning apparatus 10 and the base station 20 cooperate with each other to perform overall cleaning on the cleaning apparatus 10, it is necessary to ensure that the sewage outlet 171 on the sewage bucket 17 of the cleaning apparatus 10 is connected to the inlet portion 214 of the sewage tank of the base station 20 so as to communicate between the sewage bucket 17 and the sewage tank, and communication between the cleaning apparatus 10 and the base station 20 is also required. Based on this, in the present embodiment, the docking of the base station 20 with the cleaning device 10 includes: position docking and signal docking. The position docking refers to a set position where the cleaning apparatus is located at the base station, and in particular, the drain 171 on the drain tank 17 of the cleaning apparatus 10 is engaged with the inlet portion 214 of the drain tank of the base station 20. Signal interfacing refers to the cleaning device 10 establishing a communication connection with the base station 20.

In order to achieve the docking of the detection position, the base station 20 of the present embodiment is provided with a sensing member 219, and correspondingly, the cleaning device 10 is provided with a triggering member 175 adapted to the sensing member. The sensing component can generate corresponding induction signals (such as current signals) by sensing the signals of the triggering component, and can provide data support for detecting whether the cleaning device is positioned at a set position at the base station. In practice, referring to fig. 1c and 1d, the triggering element 175 may be provided on a side of the cleaning device 10 facing the base station 20, more specifically, on a side of the waste basket 17 of the cleaning device 10 facing the base station, and close to the drain 171. Correspondingly, the sensing element 219 may be located at a position on the base station 20 near the inlet portion 214 of the trapway.

The sensing signal generated by the sensing member by sensing the signal of the triggering member may vary with the relative position between the sensing member and the triggering member. The change in the relative position of the sensing member and the triggering member is mainly caused by the movement of the cleaning device. As the trigger member 175 approaches the sensing member 219 on the base station 20 gradually as the cleaning device 10 moves, the signal from the trigger member 211 sensed by the sensing member 219 becomes stronger and the resulting sensing signal increases. When the drain 171 at the bottom of the drain tank 17 of the cleaning apparatus 10 is standard-engaged with the sewage inlet 214 of the drain tank of the base station 20, the relative position of the trigger member and the sensing member reaches a minimum value, and accordingly, the signal of the trigger member sensed by the sensing member reaches the maximum value, and the generated sensing signal also reaches a peak value.

Specifically, in connection with fig. 4a, taking the triggering component 175 as a magnetic element (such as a magnet) and the sensing component 219 as a reed pipe as an example, when the reed pipe does not sense a magnetic field signal generated by the magnetic element, two reeds e in the reed pipe are in a non-contact state (a state shown by a left side of a transverse arrow in fig. 4 a), in other words, a circuit in the reed pipe is in an open state. When the cleaning device 10 is gradually moved to the base station 20 to be docked with the base station 20, the magnetic element gradually approaches to the reed pipe of the base station 20 along with the movement of the cleaning device 10, and a magnetic field signal generated by the magnetic element approaches to the reed pipe, so that two reeds in the reed pipe can be magnetized to generate different polarities, when the magnetic force exceeds the elasticity of the reeds (a state shown by the right side of a transverse arrow in fig. 4 a), the two reeds are attracted, and a reed pipe circuit is conducted to generate a corresponding induction signal (such as a current signal). When the drain 171 at the bottom of the drain tank 21 of the cleaning apparatus 10 is standard-engaged with the sewage inlet 214 of the drain tank of the base station 20, the relative position of the reed switch and the magnetic member is minimized, the magnetic field signal of the magnetic member sensed by the reed switch is strongest, and correspondingly, the generated sensing signal also reaches the strongest value (i.e., peak value). Fig. 4b shows a schematic diagram of the change of the induced signal generated by the reed switch with the magnetic element approaching, wherein the origin O indicates the position of the reed switch, the lateral arrow indicates the direction of movement of the magnetic element, and the abscissa D indicates the relative distance between the magnetic element and the reed switch.

In the above example, generally, when the distance between the magnetic element and the reed switch is less than or equal to about 10mm, the reed switch circuit can be turned on to generate a corresponding induction signal. Thus, when the reed switch generates the sensing signal, it can be reflected that the sewage outlet 171 at the bottom of the sewage bucket 17 is connected to the sewage inlet 214 of the sewage tank of the base station 20. Based on this, in order to avoid accidental generation, it may be considered that the drain 171 is connected to the sewage inlet 214 of the drain tank of the base station 20, that is, the cleaning apparatus is located at a set position at the base station, after it is determined that the duration of the induction signal generated by the reed pipe reaches the preset duration. Based on the foregoing, in one possible technical solution, the step 101 of detecting whether the cleaning device is located at the set position of the base station may specifically include:

1011. generating access bit information when a trigger component on the cleaning device is sensed;

1012. and if the access bit signal is not disappeared for the first preset time, determining that the cleaning equipment is positioned at the set position.

In 1011 described above, the base station 20 may sense the trigger means on the cleaning device by means of the sensing means on itself. The principle of the sensing means sensing the triggering means is also different for different sensing means and triggering means. Taking a sensing component as a reed switch, a Hall switch device or other switch components as an example, when the sensing component senses a trigger component, an internal circuit of the sensing component is conducted, and a current signal (namely the induction signal) flows on the circuit where the sensing component is positioned; further, the base station 20 may store a current signal on the circuit in which the detected sensing element is located, generate an access bit signal, and store the access bit signal locally. Wherein the above-mentioned access position signal can reflect that the sewage outlet 171 of the bottom of the sewage bucket 17 of the cleaning apparatus is in a connected state with the sewage inlet 214 of the sewage tank of the base station 20. For specific principles regarding the conduction of electrical circuits within the sensor member in the above examples, reference is made to the above-mentioned references.

Based on the above, in a specific embodiment, the triggering component may be a magnetic component, and accordingly, the sensing component may be a switch component adapted to the magnetic component, such as a reed switch, for cost reasons. Further, a specific implementation solution of the above 1011 "generating the access bit signal when sensing the trigger component on the cleaning apparatus" may include the following specific steps:

10111. when the magnetic piece is sensed, a sensing circuit is connected;

10112. and generating the access bit signal when the presence of the switch-on electric signal on the sensing circuit is detected.

In particular, the sensing circuit may refer to a circuit in which the sensing component is located. The circuit in the sensing component is conducted, so that the sensing circuit can be connected. When the sensing circuit is turned on, the on electrical signal present by the sensing circuit may be, but is not limited to, a current signal, a voltage signal.

Of course, in other embodiments, the trigger and sensing components may be of other types. For example, the triggering component can also be a reflector, and the sensing component can also be a photoelectric switch; alternatively, the triggering element may be an infrared generator, the sensing element may be an infrared sensor, etc. Regarding the principle of the sensing component sensing the triggering component in other types of cases, reference may be made to the existing content or to the example content that the triggering component provided in the above-mentioned embodiment is a magnetic element, and no description is repeated here. As a preferred example, the present embodiment selects a magnetic element as the triggering element and a reed switch as the sensing element.

What should be additionally stated here is: the base station 20 may also generate an off-position signal when no trigger component on the cleaning device is sensed. The unsettled signal can reflect that the drain 171 at the bottom of the sanitary fixture's wastewater tank 17 has been separated from the incoming portion 214 of the base station 20's wastewater tank. That is, the above 101 "detecting whether the cleaning device is located at the set position at the base station" may further include the steps of:

1013. generating dislocation information when a trigger component on the cleaning device is not sensed;

further, in combination with the above 1011, when the trigger component in 1013 is a magnetic component, a specific implementation scheme of "generating the dislocation information when the trigger component on the cleaning apparatus is not sensed" may include the following specific steps:

10131. when the magnetic piece is not sensed, the sensing circuit is disconnected;

10132. and generating the dislocation signal when no electric signal exists on the sensing circuit.

In particular, the sensing circuit may refer to a circuit where a sensing component is located on a base station, and the base station senses the magnetic component through the sensing component. When the sensing piece does not sense the magnetic piece, the circuit in the sensing piece is disconnected, the sensing circuit is disconnected, no electric signal flows on the sensing circuit, and when the base station monitors that no electric signal exists on the sensing circuit, an off-position signal is generated and is buffered locally.

It should be added that, in other embodiments, such as the device self-cleaning initiation embodiment provided by using the cleaning device 10 as the execution body shown in fig. 6 below, the base station 20 may also send the generated access bit signal and the off bit signal to the cleaning device 10, so as to provide data support for the cleaning device 10 to detect whether the cleaning device is located at the base station 20, and for specific implementation, see the description related to fig. 6.

In 1012, the first preset duration may be 30s, 1min, or other, which is not limited herein. The duration of the access signal reaching the first preset duration has not yet been lost, and it is characterized that the connection of the drain 171 at the bottom of the waste water tank 17 of the cleaning device to the sewage inlet 214 of the drain tank of the base station 20 is in a stable state, so that it is determined that the cleaning device is already located at the set position of the base station.

In the above 102, the implementation of the communication connection between the base station 20 and the cleaning device 10 may include, but is not limited to, any of the following: wireless, wired, electrodes (or contacts). Among other things, wireless means may include, but are not limited to: bluetooth, WIFI, near field communication, mobile networks (e.g., 4g+, 5g+) and the like, and may include wireless communication connections implemented by means of wireless charging. Wired means include, but are not limited to, wired communication connections established through signal data lines. Electrode (or contact) means include, but are not limited to, communication connections established by means of communication electrodes, charging electrodes, etc. Based on this, the 102 "monitoring the communication link with the cleaning device" described above may be implemented using any of the following:

(1) Detecting a charging electrical signal on a charging circuit between a first charging positive electrode and a first charging negative electrode of the base station; if the charging circuit is monitored to have a charging signal, the communication link between the cleaning equipment and the charging circuit is determined to be established, and the communication link meets the communication requirement so as to transmit the communication signal by using the charging circuit.

(2) Monitoring whether a first electrical connection on the base station for communication receives a communication signal from the cleaning device; if a communication signal originating from the cleaning device is monitored, it is determined that a communication link with the cleaning device has been established and the communication link meets communication requirements.

(3) Detecting a wireless connection signal of the cleaning device; if the wireless connection signal of the cleaning equipment is detected, a communication link is established with the cleaning equipment, and the communication link is successfully established, namely, the communication link meets the communication requirement.

(4) Detecting a wireless charging transmitting device on the base station; if the wireless charging transmitting device is detected to start working and send out a wireless charging signal, the communication link between the wireless charging transmitting device and the cleaning equipment is determined to be established, and the communication link meets the communication requirement so as to transmit the communication signal by using the wireless charging transmitting device.

In the above (1), with the charging circuit, the communication signal can be transmitted by changing the charging mode.

For example, referring to fig. 5a, two first charging electrodes, namely a first charging positive electrode A1 and a first charging negative electrode A2, are provided on the base station 20; correspondingly, two second charging electrodes, namely a second charging positive electrode B1 and a second charging negative electrode B2, are correspondingly arranged on the cleaning equipment; after the first charging electrode is connected with the second charging electrode, a charging circuit shown by a thickened black line "-" in fig. 5a is formed, through which the base station 20 can charge the cleaning device 10, and can also transmit a communication signal by using the charging circuit when the base station and the cleaning device are determined to be successfully docked. Specifically, taking an example that the base station sends an instruction for starting the self-cleaning function to the cleaning device, under normal conditions, the base station 20 charges the cleaning device 10 by converting an ac electric signal provided by an acquired external power supply into a constant current charging signal by a power supply control device in the base station 20, and then transmitting the constant current charging signal to the cleaning device 10. And if the controller in the base station 20 determines that the base station and the cleaning equipment are successfully docked, a switching instruction is sent to the power supply control device. After receiving the switching command, the power supply control device may generate a pulse signal with five pulse periods based on the received ac power signal, switch the power supply mode to the cleaning device 10 from the constant current power supply mode to the pulse power supply mode, and restore the provided charging signal to a constant signal after generating the pulse signal with five pulse periods. In this way, the charging signal at the second charging positive pole B1 on the cleaning device 10 can take the form as shown in fig. 5B, and the charging signal flowing into the shunt also takes the form as shown in fig. 5B.

In the above description, the shunt is an electrical component including a resistor with a small resistance, and uses the volt-ampere characteristic of the resistor to generate a corresponding voltage signal at two ends of the resistor when a current signal flows through the resistor.

A processor within the cleaning device 10 may monitor the charging signal flowing into the shunt and upon detecting a change in the charging signal flowing into the shunt, determine that the change information meets target requirements such as:

the variation modes are as follows: direct current-pulse-direct current;

duration (or period) of change: the duration period is 5 pulse periods;

then it is determined that an instruction for starting the self-cleaning function sent by the base station is received, and the self-cleaning function is started according to the instruction.

The above examples are illustrative only and the reverse is also possible and not limiting herein. Similarly, the cleaning device 10 may also change the charging mode of the battery by a charging control unit in the battery system to transmit a communication signal to the base station 20 using a charging circuit, which will not be described in detail herein.

In the above (2), the first electrical connection terminal for communication on the base station may be an electrical interface for wired communication, or may be a contact type communication electrode (or a communication contact). Correspondingly, the cleaning device is provided with a second electrical connection terminal for connection with the first electrical connection. When the first electric connection end on the base station can receive the communication signal from the cleaning equipment, the first electric connection end on the base station can be indicated to be electrically connected with the second electric connection end on the cleaning equipment, namely, the base station and the cleaning equipment have established a communication link, and the communication link has stability and can meet the communication requirement. The base station 20, upon determining that the docking with the cleaning device is successful, can communicate communication signals with the cleaning device using the communication link.

In the above (3), the base station and the cleaning device are in communication connection by wireless communication. The wireless communication connection is short-distance communication, when the base station can detect the wireless connection signal of the cleaning equipment, namely the base station and the cleaning equipment are successfully established, the communication link can be directly considered to meet the communication requirement at the moment, or whether the signal intensity of the communication signal transmitted on the communication link is larger than or equal to a preset threshold value can be further determined, and when the signal intensity is larger than or equal to the preset threshold value, the communication link is determined to meet the communication requirement.

The above (4) is similar to the above (1), and the communication signal can be transmitted by changing the charging mode by using the wireless charging transmitting device.

Specifically, in the case of normalization, when the base station 20 charges the cleaning device 10 by using the wireless charging transmitting device, the ac charging signal generates a constantly changing magnetic field (ac charging signal) through the coil; when the changed magnetic field is received by the wireless receiving device of the cleaning device 10, an alternating current charging signal is generated in the local induction coil, and further, the cleaning device 10 rectifies and stabilizes the alternating current charging signal, so that the battery can be charged.

The base station 20 determines that the docking with the cleaning device is successful, and when the cleaning device is required to send an instruction to activate the self-cleaning function, a rectification switching operation may be performed to generate a pulse signal having, for example, five pulse periods based on the ac charging signal, the pulse signal may generate a magnetic field with a constant magnetic field direction but a constantly changing magnetic field strength through a coil in the wireless transmitting device, and the changed magnetic field is received by the wireless receiving device of the cleaning device 10, so that a corresponding pulse signal may be generated in the local induction coil thereof. The base station 20 may restore the supplied charging signal to the ac charging signal after generating the pulse signal having five pulse periods. As above, the charging signal received by the wireless receiving device on the cleaning apparatus 10 may be in the form as shown in fig. 6.

The processor within the cleaning apparatus 10 may monitor the charging signal received by the wireless receiving device and upon detecting a change in the charging signal received by the wireless receiving device, determine that the change information meets target requirements such as:

the variation modes are as follows: exchange > pulse-exchange;

duration (or period) of change: the duration period is 5 pulse periods;

The above examples are illustrative only and the reverse is also possible and not limiting herein.

In the above case, if the cleaning device 10 needs to transmit a signal to the base station 20, this can be achieved by, but not limited to, reverse wireless charging. Reverse wireless charging refers to converting an inductor coil integrated inside the cleaning device 2 into an output mode by a technical means, thereby supplying power to the base station 20. Thus, the wireless receiving device of the cleaning device 10 is changed from the original receiving end to the transmitting end, and the wireless transmitting device of the base station 20 is changed from the original transmitting end to the receiving end. In specific implementation, taking an example that the cleaning device 10 needs to send a start instruction for starting water injection into the cleaning water bucket 16 to the base station 20, the cleaning device 10 can perform reverse wireless charging to the base station 20 within a preset time duration, and recover an original wireless charging mode after the preset time duration is reached; accordingly, the base station 20 may start timing when detecting that the wireless charging mode is changed, and after the timing time reaches the preset time, detect that the wireless charging mode is restored to the original state, and determine that a start instruction for starting to fill water into the water cleaning bucket 16 sent by the cleaning device is received. The preset duration may be 10s, 25s, or the like, which is not limited herein.

For a description of the specific implementation in 103-104 above, reference may be made to the relevant content described in steps 101-102 above.

In 105 above, the base station 20 initiates a cleaning function that assists the cleaning device 10 in self-cleaning, which may include, but is not limited to, at least one of the following:

starting a function of injecting water into a sewage bucket on the cleaning device;

starting a function of discharging sewage in a sewage bucket on the cleaning equipment;

after the sewage in the sewage bucket is discharged, starting a function of flushing the sewage bucket;

a function of starting to inject cleaning liquid into the clean water barrel of the cleaning equipment;

a function of starting to spray cleaning liquid to a cleaning executing piece of the cleaning equipment so as to infiltrate the cleaning executing piece;

after the cleaning execution piece of the equipment to be cleaned completes self-cleaning, the function of drying the cleaning execution piece is started.

The timing of the activation of at least one of the above may be determined by the base station based on a received instruction from the cleaning device. For a specific implementation of at least one of the above-mentioned start-up procedures, reference may be made to the relevant content of the self-cleaning method embodiment of the cleaning device provided in the present application (i.e. the content related to the embodiment shown in fig. 8a to 10), which is not described in detail herein.

According to the technical scheme provided by the embodiment, the base station can determine that the base station is successfully docked with the cleaning equipment on the basis of detecting that the cleaning equipment is located at the set position and the communication link meets the communication requirement by detecting whether the cleaning equipment is located at the set position at the base station or not and detecting the communication link between the base station and the cleaning equipment, and further sends an instruction for starting a self-cleaning function to the cleaning equipment through the communication link and starts a cleaning function for assisting the self-cleaning of the cleaning equipment. Therefore, the base station in the scheme has the function of identifying whether the butt joint with the cleaning equipment is successful or not, and can automatically start the cleaning function, so that the cleaning operation is simplified, and the user experience can be improved.

Further, in an embodiment, the execution of 101 to 102 may be triggered when it is detected that the user inputs an instruction to start washing the cleaning device. That is, the method provided in this embodiment may further include the following steps:

100. in response to a user entered instruction to initiate washing of a cleaning device, triggering the steps of detecting whether the cleaning device is in the set position and detecting a communication link with the cleaning device.

In particular, it may be determined that the user has entered an instruction to initiate cleaning of the cleaning device upon monitoring at least one of: a user's manipulation event to a target control (e.g., a self-cleaning functionality control); the user utters a speech control event specifying semantic speech, such as the user utters a clean-initiating speech.

Corresponding to the embodiment of the method for starting self-cleaning of the device provided in the present application and shown in fig. 3 above, the present application also provides embodiments of a cleaning system and a base station, respectively. In particular, the method comprises the steps of,

the architecture of a cleaning system according to an embodiment of the present application is shown in fig. 1 c. Referring to fig. 1c, the cleaning system comprises: a base station 20 and a cleaning device 10; wherein,,

A base station 20 for detecting whether the cleaning device is located at a set position at the base station; detecting a communication link with the cleaning device; if the cleaning equipment is detected to be positioned at the set position and the communication link meets the communication requirement, the base station and the cleaning equipment are determined to be successfully docked; transmitting an instruction for starting a self-cleaning function to the cleaning device through the communication link; a cleaning function is initiated that assists the cleaning device in self-cleaning.

The cleaning device 10 is arranged to activate the self-cleaning function in response to an instruction sent by the cleaning device to activate the self-cleaning function.

It should be noted here that the structures and functions of the cleaning device and the base station provided in the embodiments of the present application are not limited to those described in the above embodiments, and may include components and functions. The specific structure and function of the cleaning device and the base station may be referred to in the related content described in other embodiments of the present application, and will not be described herein.

The structure of a base station provided herein is as shown in fig. 1c for base station 20. Referring to fig. 1c, the base station includes: the base station comprises a base station main body and a base for bearing cleaning equipment, wherein a controller and a memory are arranged on the base station main body; the memory is used for storing a computer program, and the controller is coupled with the memory and is used for executing the computer program for executing the steps in the embodiment of the self-cleaning starting method of the device shown in fig. 3 of the application.

Here, it should be noted that the structure and functions of the base station provided in the embodiment of the present application are not limited to the components and functions described in the above embodiment. The specific structure and function of the base station may be referred to the related content described in other embodiments of the present application, and will not be described herein.

The above description mainly describes the technical solution from the perspective of the base station 20 performing "detecting whether the cleaning device is located at the set position of the base station and detecting the communication link between the base station and the cleaning device", but of course, the cleaning device 10 may also perform the method in reverse, and therefore, another embodiment of the present application further provides a self-cleaning starting method of the device, which is suitable for the cleaning device, and when implemented, the method provided in the present embodiment may be implemented by a controller (not shown in the figure) provided on the cleaning device 10, where the controller may be, but is not limited to, a microcontroller, a single-chip microcomputer, a CPU, and the like. In particular, the method comprises the steps of,

referring to fig. 7, a schematic flow chart of a self-cleaning starting method of a device according to another embodiment of the present application is shown, where the self-cleaning starting method of the device includes the following steps:

201. detecting a communication link with a base station;

202. Determining whether a set location is located at a base station;

203. if the communication link meets the communication requirement and is determined to be at the set position, starting a self-cleaning function;

204. and sending a starting instruction to the base station through the communication link so as to enable the base station to start a cleaning function for assisting the self-cleaning of the cleaning equipment.

In one implementation solution, the implementation of 201 "detecting a communication link with a base station" may specifically include, but is not limited to, any of the following:

1) Detecting a charging signal on a charging circuit between a second charging positive electrode and a second charging negative electrode on the cleaning device; if the charging circuit is detected to have a charging signal, determining that a communication link between the charging circuit and the base station is established, wherein the communication link meets the communication requirement so as to transmit the communication signal by using the charging circuit;

2) Monitoring whether a second electric connection end used for communication on the cleaning equipment receives a communication signal from the base station or not, if so, determining that a communication link between the cleaning equipment and the base station is established, wherein the communication link meets the communication requirement;

3) Detecting the wireless connection signal of the base station, if the wireless connection signal of the base station is detected, establishing a communication link with the base station, wherein the communication link is successfully established, namely, the communication link meets the communication requirement;

4) Detecting a wireless charging receiving device on the cleaning equipment; if the wireless charging receiving device receives the wireless charging signal, the communication link between the wireless charging receiving device and the base station is determined to be established, and the communication link meets the communication requirement so as to transmit the communication signal by using the wireless charging receiving device.

For a specific implementation of how the cleaning device 10 and the base station 20 transmit the communication signal through the communication link determined by any one of the above 1) to 4), reference may be made to the related content (such as the embodiment provided in fig. 3) in other embodiments of the present application, and detailed descriptions thereof will be omitted herein.

In the above-mentioned 202, in an embodiment, as shown in fig. 1c and 1d, in the case that the still sensing element 219 is disposed on the base station 20 and the still triggering element 175 is disposed on the cleaning device 10, if the cleaning device and the base station have established a communication link and the communication link meets the communication requirement, the cleaning device 10 may determine whether to be located at the set position of the base station based on the received access bit signal sent by the base station 20. In another embodiment, the cleaning device 10 may be provided with a sensing means and the base station 20 may be provided with a triggering means; in particular, referring to fig. 1a, a triggering member (not shown) may be provided on a side of the base station 20 facing the cleaning apparatus 10, more particularly, the triggering member may be provided on a side of the base station 20 facing the cleaning apparatus 10, and close to the dirt inlet 214 of the dirt discharge tank; correspondingly, a sensing member (not shown) may be provided on the waste basket 17 of the cleaning device 10 at a position near the drain 171 at the bottom of the waste basket. In the case of the other example described above, the cleaning apparatus 10 may determine whether it is located at a set position at the base station 20 by sensing a trigger component on the base station 20. Based on this, in a specific implementation solution, the above 201 "determining whether to locate at the set position at the base station" may specifically include any one implementation manner of the following:

Mode one: the access bit signal sent by the base station is received through the communication link, and when the off-bit signal sent by the base station is not received for a first time, the position of the access bit signal is determined to be at the set position;

mode two: and generating an access bit signal when a trigger component on the base station is sensed, and determining that the access bit signal is positioned at the set position if the access bit signal is not disappeared for a first preset duration.

In the above-mentioned manner, the specific implementation of the base station 20 for transmitting the access bit signal and the off bit signal to the cleaning device 10 through the communication link is referred to as related content in other embodiments of the above-mentioned application.

In the second mode, the triggering component on the base station may be a magnetic component, and correspondingly, the sensing component on the cleaning device may be a switch component, such as a reed switch. Further, a specific implementation technical scheme of the above-mentioned "generating an access bit signal when sensing a trigger component on a base station" may include the following steps:

s1, when the magnetic piece is sensed, a sensing circuit is connected;

s2, when the fact that the switch-on electric signal exists on the sensing circuit is monitored, the switch-on bit signal is generated.

For a description of the specific implementation of the steps S1 to S2, reference may be made to the related content in other embodiments of the above-mentioned text application, and no further description is given here.

According to the technical scheme provided by the embodiment, the cleaning equipment can detect a communication link between the cleaning equipment and the base station and determine whether the cleaning equipment is located at a set position of the base station or not; and the self-cleaning function can be automatically started on the basis that the communication link meets the communication requirement and is determined to be at the set position, and a starting instruction is sent to the base station through the communication link, so that the base station starts the cleaning function for assisting the self-cleaning of the cleaning equipment. Therefore, the cleaning device in the scheme has the function of identifying whether the butt joint with the cleaning device is successful or not, and can automatically start the cleaning function, so that the cleaning operation is effectively simplified, and the user experience can be improved.

Further, the method provided in this embodiment may further include the following steps:

200. in response to a user entered instruction to activate the self-cleaning function, the steps of detecting a communication link with the base station and determining if the communication link is located at a set location at the base station are activated.

In particular, it may be determined that the user has entered an instruction to activate the self-cleaning function if at least one of the following events is monitored: a user's manipulation event to a target control (e.g., a self-cleaning functionality control); the user utters a speech control event specifying semantic speech, such as the user utters a speech that initiates self-cleaning.

Corresponding to the embodiment of the self-cleaning starting method of the device provided in the application shown in fig. 7 above, the application also provides an embodiment of a cleaning system and an embodiment of a cleaning device, respectively. In particular, the method comprises the steps of,

the architecture of a cleaning system provided herein is similar to the cleaning system architecture shown in fig. 1 a. Referring to fig. 1a, the cleaning system comprises: a base station 20 and a cleaning device 10; wherein,,

a cleaning device 10 for detecting a communication link with a base station; determining whether a set location is located at a base station; if the communication link meets the communication requirement and is determined to be at the set position, starting a self-cleaning function; transmitting a start instruction to the base station through the communication link;

and the base station 20 is used for responding to the starting instruction and starting a cleaning function for assisting the self-cleaning of the cleaning equipment.

The construction of a cleaning apparatus provided herein is similar to the construction of the cleaning apparatus 10 shown in fig. 1a and 1 b. The cleaning apparatus includes: an equipment body, a controller and a memory arranged on the equipment body; the memory is used for storing a computer program, and the controller is coupled with the memory and is used for executing the computer program for executing the steps in the embodiment of the self-cleaning starting method of the device shown in fig. 7 of the application.

It should be noted here that the structure and functions of the cleaning device provided in the embodiment of the present application are not limited to the components and functions that may be included as described in the above embodiment. The specific structure and function of the cleaning device may be referred to in the description of other embodiments of the present application, and will not be described herein.

For the technical solutions provided in the embodiments of the above text application, it needs to be additionally described that, when the base station (or the cleaning device) determines that the docking with the cleaning device (or the base station) is unsuccessful, the base station can output prompt information perceivable by the user to prompt the user that the docking between the base station and the cleaning device is unsuccessful, so that the user can check the docking between the cleaning device and the base station based on the prompt information. The prompt information is not limited to one or a combination of voice, characters, pictures, characters, numbers and the like. For example, if it is determined that the communication link between the base station and the cleaning device is not satisfactory, for example, the base station and the cleaning device are connected in a wired communication, and a communication signal transmitted on the communication link has instability, a voice prompt such as "please check whether the connection of the communication link is loose" may be output.

The following describes the technical scheme adopted in the above text application in combination with a specific scene, so as to help understanding.

The user has a hand-held floor cleaning machine (hereinafter referred to as a cleaning machine) in his home, and the system architecture of the cleaning machine is similar to that shown in fig. 1a and 1 b. That is, the washer includes a washer 10 and a base station 20, wherein the base station 20 communicates with the washer 10 through bluetooth, both of which are in an on state; the washer 10 is provided with a trigger member (which is a magnetic element) and the specific positioning is described above.

The user turns on the power switch of the cleaner 10 to clean the floor. After the floor is cleaned, the user places the washer 10 on the base station 20 and presses a function control on the base station 20 for starting the washer 10. The base station 20 detects whether the washer is located at a set position by sensing a trigger part on the washer 10 in response to the pressing operation, and detects a function procedure of a communication link with the washer by detecting a bluetooth signal of the washer 10. After detection, determining that the cleaning machine is positioned at the set position, and the cleaning machine successfully establish a communication link through Bluetooth and meet the communication requirement, so as to determine that the cleaning machine and the cleaning machine are successfully docked; further, an instruction for starting the self-cleaning function is sent to the cleaning machine through Bluetooth, and a cleaning function for assisting the cleaning machine in self-cleaning, such as a function for opening a sewage port at the bottom of the sewage bucket on the cleaning machine, is started to discharge sewage in the sewage bucket. The soil may be, but is not limited to, dirt, solid waste, and the like.

In some alternative embodiments, the cleaning device 10 and the base station 20 cooperate to perform overall self-cleaning on the cleaning device 10 according to a uniform overall cleaning procedure, as shown in fig. 8a, where the overall cleaning procedure includes:

step 31, under the condition that the cleaning equipment is in butt joint with the base station, the base station carries out first self-cleaning on the sewage bucket;

step 32, after the sewage bucket is self-cleaned for the first time, the cleaning equipment self-cleans the floor brush;

and 33, after the cleaning equipment finishes self-cleaning of the floor brush, the base station performs secondary self-cleaning on the sewage bucket.

Further, as shown in fig. 8b, after step 33, the method further includes:

and step 34, after the secondary self-cleaning of the sewage bucket is finished, the base station self-cleans a sewage draining tank used in the self-cleaning process.

In the embodiments shown in fig. 8a and 8b, the base station may also control the water storage tank to fill the water tub synchronously in all steps. If the cleaning device provides cleaning fluid from the clean water bucket of the cleaning device during self-cleaning of the floor brush in step 32, the base station controls the water storage tank to synchronously fill water into the clean water bucket in other steps than step 32. This patent is exemplified in step 32 by the fresh water bucket of the cleaning apparatus.

Further, the self-cleaning process of the sewage bucket is split into: three operations of sewage bucket water injection and sewage bucket emptying and sewage bucket flushing, wherein the sewage bucket water injection refers to a process of injecting water into the sewage bucket to enable the sewage bucket to be in a water full state; emptying the sewage bucket refers to a process of opening a sewage outlet of the sewage bucket to discharge sewage to a base station; the bilge tank flushing refers to a process of flushing the inside of the bilge tank until the flushing is finished after the bilge tank is emptied.

It should be noted that in the embodiments shown in fig. 8a and 8b, the first self-cleaning of the wastewater tank includes at least a step of emptying the wastewater tank, and the two steps of filling the wastewater tank and flushing the wastewater tank are optional steps; accordingly, the secondary cleaning of the sewage bucket at least comprises: the steps of emptying the bilge tank and flushing the bilge tank are optional steps for filling the bilge tank with water. Based on this, the process of performing the overall self-cleaning of the cleaning apparatus 10 according to the unified overall cleaning flow shown in fig. 8a and 8b includes the following embodiments:

in specific embodiment A1, as shown in fig. 9a, the whole self-cleaning process of the cleaning device includes the following steps:

(1) The sewage bucket is filled with water, optionally, the clear water bucket is filled with water synchronously;

(2) The sewage bucket is emptied, and optionally, the clear water bucket is synchronously filled with water;

(3) Flushing the sewage bucket, and optionally synchronously injecting water into the clean water bucket;

(4) The cleaning equipment automatically cleans the ground brush;

(5) The sewage bucket is filled with water, optionally, the clear water bucket is filled with water synchronously;

(6) The sewage bucket is emptied, and optionally, the clear water bucket is synchronously filled with water;

(7) Flushing the sewage bucket, and optionally synchronously injecting water into the clean water bucket;

further, the whole machine cleaning process of the embodiment shown in fig. 8b further includes the following steps after step (7):

(8) Flushing the sewage draining tank, and optionally, synchronously injecting water into the clean water barrel;

(9) And (5) starting drying and/or sterilizing.

In the step (1), if the water in the clean water barrel is full, the water injection is stopped in the steps (2) and (3), and if the water in the clean water barrel in the step (1) is not full, the water is continuously injected into the clean water barrel in the following steps. And (5) the same as the step (5). In the step (9), drying and/or degerming means drying and/or degerming the floor brush, and the degerming can be performed by adopting a UV lamp.

In specific embodiment A2, as shown in fig. 9b, the whole self-cleaning process of the cleaning device includes the following steps:

(4) The cleaning equipment automatically cleans the ground brush;

(9) And (5) starting drying and/or sterilizing.

In specific embodiment A3, as shown in fig. 9c, the whole self-cleaning process of the cleaning device includes the following steps:

(4) The cleaning equipment automatically cleans the ground brush;

(9) And (5) starting drying and/or sterilizing.

In specific embodiment A4, as shown in fig. 9d, the whole self-cleaning process of the cleaning device includes the following steps:

(4) The cleaning equipment automatically cleans the ground brush;

(9) And (5) starting drying and/or sterilizing.

In the above embodiments A1 to A4, the step (1) is a step that needs to be performed when the wastewater tank is not in a water-full state, and if the wastewater tank is in a water-full state, the step (2) may be directly performed in each embodiment.

In each of the embodiments A1-A4 corresponding to the embodiment shown in fig. 8a, the step (4) may be taken as a division point, the step before the step (4) is a first self-cleaning process for the sewage tank, the step after the step (4) is a second self-cleaning process for the sewage tank, and the step (4) is a self-cleaning process for the floor brush itself. In the above embodiments A1-A4, there is a certain difference in the first self-cleaning process of the wastewater tank, namely, the wastewater tank emptying is an essential step, and the wastewater tank water injection and wastewater tank flushing are optional steps; accordingly, there is a distinction between the secondary self-cleaning process of the wastewater tank, i.e. the wastewater tank emptying and the wastewater tank flushing are essential steps, whereas the wastewater tank filling is an optional step.

The overall flow of the above embodiments A1 to A4 and detailed implementation procedures of the respective steps therein are described below.

Specifically, the user uses the cleaning device to perform a floor cleaning task, and during the floor cleaning task, if any of the following occurs, the user may interrupt the floor cleaning task and place the cleaning device on the base of the base station and complete docking with the base station.

Case 1: in the process of executing the floor cleaning task, the alarm information of insufficient electric quantity sent by the cleaning equipment is received, wherein the alarm information of insufficient electric quantity can be graphic information (such as battery map for highlighting) displayed through a display screen, can be a lamplight signal (such as continuously flashing red light signal) output through a display lamp, and can also be a voice signal output in a voice mode, such as 'insufficient electric quantity of a battery, please charge'.

Case 2: in the process of executing the floor cleaning task, when the sewage tank water full warning information on the cleaning equipment is received, the sewage tank water full warning information can be graphic information (such as a sewage tank map is highlighted or text information of 'sewage tank water full') displayed through a display screen, can be a light signal (such as a continuously flashing green light signal) output through a display lamp, and can also be a voice signal output in a voice mode, such as 'sewage tank water full, please clean'.

Case 3: in the process of executing the floor cleaning task, when the warning information of the insufficient water quantity of the clean water bucket on the cleaning equipment is received, the warning information of the insufficient water quantity of the clean water bucket can be graphic information (such as the graphic information of the clean water bucket, for example, the graphic information of the clean water bucket, or the text information of the too low water level of the clean water bucket) displayed through a display screen, can be a lamplight signal (such as a continuously flashing blue light signal) output through a display lamp, and can also be a voice signal output in a voice mode, such as the voice signal of the insufficient water quantity of the clean water bucket, requesting to add water.

When different alarm information is output through the display lamp, the color of the light signal is different, the light signal with the same color can also be used, but the flashing frequency of the light signal is different, and only the light signal expression mode capable of distinguishing different alarm information is suitable for the embodiment of the application.

In addition to the above, during the performance of the floor cleaning task, if other problems occur, it may also cause interruption of the floor cleaning task, requiring the cleaning device to be placed on the base of the base station and docked with the base station. In addition, after the floor cleaning task is completed, the user may also place the cleaning device on the base of the base station and complete the docking with the base station.

The base station and the cleaning device can detect whether the docking with the opposite end is completed or not. The detection manner of completing the docking is not limited in the embodiment of the present application. When the base station and the cleaning equipment are in butt joint, the cleaning component of the cleaning equipment is positioned in the accommodating groove on the base station base, the sewage outlet of the sewage bucket is in butt joint with the inlet part of the sewage groove, and the water filling port of the clean water bucket is in butt joint with the water filling valve of the water storage bucket; of course, the docking may be accomplished if there are other components to be docked.

Under the condition that the butt joint of the cleaning equipment and the base station is determined, the whole cleaning process of any one of the cleaning equipment in the specific embodiments A1-A4 can be entered, and the whole cleaning process of the finally used cleaning equipment is preset when the product leaves the factory or can be preset by a user.

In embodiments A1-A4, the base station first obtains the water level status of the wastewater tank upon determining that the cleaning device is docked therewith; if the sewage bucket is in a water full state, starting to execute the step (2) in each specific real-time mode; if the wastewater tank is not in a full state, the method starts from the step (1) in each specific embodiment. Here, the water full state may be flexibly defined according to application requirements, for example, a certain ratio (for example, 90%, 4/5) of the entire sewage tank capacity may be defined as a water full state, and a ratio lower than the certain ratio is a water not full state, and a ratio equal to the certain ratio or higher than the certain ratio is defined as a water full state; of course, the ratio may be 100%, i.e. 100% of the capacity of the wastewater tank is defined as a water full state, and all capacity states below 100% are in a water not full state; the range of 80-90% of the capacity of the wastewater tank may also be defined as a water full state, and for the case of more than 90% capacity, an overfill or overflow state, a capacity state of less than 80% as a water not full state.

In the above-described alternative embodiment, a set of electrode pads for detecting whether the sewage tank is in a water-full state is provided in the sewage tank 17 of the cleaning apparatus 10, the ends of the set of electrode pads representing the water-full state; when the sewage in the sewage tank 17 passes the end of the set of electrode pads, the set of electrode pads generates an electrical signal indicating a water full state due to conduction, the set of electrode pads is electrically connected with the processing system of the cleaning device 10, the electrical signal is sent to the processing system of the cleaning device 10, and the processing system can identify whether the sewage tank 17 is in the water full state according to whether the electrical signal indicating the water full state is received or not.

Wherein the cleaning apparatus 10 may detect whether the sewage bucket is in a full state in real time or at a fixed time and transmit indication information of whether the sewage bucket is in a full state to the base station 20, and the base station 20 determines whether the sewage bucket is in a full state according to the indication information of whether the sewage bucket is in a full state transmitted from the cleaning apparatus. Alternatively, the cleaning apparatus 10 detects a water full signal and transmits a state that the wastewater tank is full of water to the base station. Of course, the cleaning apparatus may also transmit the current water level information of the wastewater tank to the base station 20, and the base station 20 may automatically determine whether the wastewater tank is in a full state according to the current water level information of the wastewater tank. If the sewage bucket is in a water full state, directly carrying out sewage disposal treatment on the sewage bucket so as to empty sewage in the sewage bucket; if the sewage bucket is not in the water full state, the water injection treatment is carried out on the sewage bucket, and when the sewage bucket is in the water full state, the sewage discharge treatment is carried out on the sewage bucket so as to empty the sewage in the sewage bucket.

Among these, the water filling treatment of the wastewater tank includes, but is not limited to, the following two methods:

mode 1: the cleaning apparatus is injected into the sewage tank through the fresh water tank. That is, the clean water tank of the cleaning apparatus 10 conveys clean liquid to the cleaning assembly (such as a floor brush or a roll brush) or the accommodating tank through the first water conveying pipeline (the first water conveying pipeline refers to a pipeline between the clean water tank and the nozzles on the cleaning assembly), and then the main motor (also referred to as a suction motor) is started to suck the liquid (i.e. sewage) in the cleaning assembly or the accommodating tank back to the sewage tank through the suction channel until the sewage tank is full of water, so that the purpose of filling the sewage tank with water is achieved. In this embodiment, the receiving tank communicates with the fresh water bucket via a first water supply line and with the sewage bucket via a suction channel.

Alternatively, in mode 1, the cleaning apparatus 10 may actively fill the wastewater tank. Specifically, in case it is determined to dock with the base station, the cleaning apparatus starts to detect whether the sewage bucket is in a water-full state; if the cleaning equipment detects that the sewage bucket is not in the water full state, on the one hand, the indication information that the sewage bucket is not in the water full state can be sent to the base station, so that the base station can know that the sewage bucket is not in the water full state currently, on the other hand, the floor brush motor can be directly controlled to open the water pump to convey clean liquid in the clean water bucket into the cleaning assembly or the accommodating groove, and the main motor is started to suck the liquid in the cleaning assembly or the accommodating groove back into the sewage bucket until an electric signal which is generated by the electrode plate and represents the water full state of the sewage bucket due to the conduction of the water full state is received. When the sewage bucket is filled with water to a water full state, the cleaning equipment can control the clear water bucket to stop conveying liquid and control the main motor to stop sucking. Wherein, when the cleaning device detects the electric signal of the sewage bucket water full, the indication information of the sewage bucket in the water full state is sent to the base station, so that the base station can know that the sewage bucket is in the water full state. Or alternatively

Alternatively, in mode 1, the cleaning apparatus 10 fills the wastewater tank according to the control of the base station 20. In case of determining to dock with the base station, the cleaning device starts to detect whether the sewage tank is in a full state; if the cleaning equipment detects that the sewage bucket is not in the water full state, sending indication information of the sewage bucket not in the water full state to the base station so that the base station can know that the sewage bucket is not in the water full state currently; and the base station returns a water injection instruction to the cleaning equipment according to the indication information that the sewage bucket is not in the water full state, and indicates that the cleaning equipment injects water into the sewage bucket. For the cleaning equipment, according to the water injection instruction returned by the base station, the floor brush motor is controlled to open the water pump to convey clean liquid in the clean water bucket to the cleaning assembly or the accommodating groove, and the main motor is started to suck sewage in the cleaning assembly or the accommodating groove back to the sewage bucket until the cleaning equipment receives an electric signal representing that the sewage bucket is full of water, which is generated by the electrode plate due to full conduction of water. At this time, the cleaning apparatus may control the fresh water tub to stop transporting the liquid and the main motor to stop pumping.

Mode 2: a rinse head is provided in the receiving tank of the base station, the rinse head being in communication with the water storage tank and being capable of spraying liquid towards the receiving tank or the cleaning assembly in the receiving tank, optionally the rinse head being provided on the front wall of the receiving tank, but not limited thereto, for example being capable of being provided around the receiving tank, the number of rinse heads being one or more. Based on this, the base station may fill the wastewater tank through the water storage tank.

Specifically, in case it is determined to dock with the base station, the cleaning apparatus starts to detect whether the sewage bucket is in a water-full state; if the cleaning equipment detects that the sewage bucket is not in the water full state, sending indication information of the sewage bucket not in the water full state to the base station so that the base station can know that the sewage bucket is not in the water full state currently; the base station controls the water storage tank to be filled with water into the accommodating groove through a second water conveying pipeline according to the indication information that the sewage tank is not in a water full state, wherein the second water conveying pipeline comprises a pipeline between the water storage tank and the flushing nozzle, specifically, the water storage tank conveys clean liquid to the flushing nozzle, the flushing nozzle sprays the clean liquid into the cleaning assembly or the accommodating groove, and a suction instruction is sent to the cleaning equipment; according to the suction instruction, the cleaning device starts the main motor to suck the sewage in the cleaning component or the accommodating groove back to the sewage bucket through the suction channel until the sewage bucket is full of water, so that the aim of filling water into the sewage bucket is fulfilled. In the process of filling water into the sewage bucket, the cleaning equipment can continuously detect whether the sewage bucket is in a water full state, and when the sewage bucket is detected to be in the water full state, on one hand, the indication information that the sewage bucket is in the water full state can be sent to the base station, so that the base station can stop filling water into the sewage bucket from the water storage tank according to the notification information, and on the other hand, the main motor can be closed, so that sewage suction is stopped. In this embodiment, the receiving tank communicates with the water storage tank via a second water supply line and with the sewage tank via a suction channel.

In the above-described mode 2, in addition to the main motor being started according to the suction command transmitted from the base station, the cleaning apparatus may automatically start the main motor for sucking the liquid in the accommodating tank or the cleaning assembly into the sewage tank when it is detected that the sewage tank is not in the full state.

In the two embodiments of water injection to the sewage tank, after the clean liquid is delivered to the cleaning assembly or the accommodating groove from the clean water tank on the cleaning device or the water storage tank on the base station, the main motor is started to suck the sewage on the cleaning assembly back to the sewage tank through the suction channel after the clean liquid stays on the cleaning assembly for a certain time, so that the pre-soaking of the floor brush in the cleaning assembly is achieved, and a certain condition is provided for self-cleaning of the follow-up floor brush. In the above process, the residence time of the clean liquid on the cleaning member is not limited, and may be, for example, 2s, 5s, or 5-10s, etc. Of course, the sewage on the cleaning assembly can be sucked back into the sewage bucket in time while the cleaning assembly or the accommodating groove is sprayed with the liquid.

In both embodiments of filling the wastewater tank with water, whether clean liquid is released from the clean water tank of the cleaning device or from the water storage tank of the base station, as shown by the flow direction of the liquid indicated by the gray arrows in fig. 9e, the finally generated wastewater enters the wastewater tank through the floor brush and the suction channel (such as a hose connecting the wastewater tank and the floor brush), and the floor brush and the suction channel are cleaned at the same time, so that the consumption of clean liquid is saved; in addition, after the sewage bucket is filled with liquid, some stains remained on the side wall of the sewage bucket can be taken away, so that more dirt can be taken away, and the cleaning effect is enhanced.

In the above embodiments A1 to A4, after the step (1) is performed, the process proceeds to the step (2). Wherein, in the first self-cleaning process of the sewage bucket, the process of emptying the sewage bucket comprises the following steps: the base station controls the motion mechanism of the base station for opening and closing the sewage bucket to start moving towards the sewage outlet of the sewage bucket until the base station is abutted with the sewage outlet and pushes up the cover plate of the sewage outlet, so that sewage in the sewage bucket flows into the sewage tank through the sewage outlet and the inlet part of the sewage tank to realize sewage discharge. Optionally, the cover plate of the sewage outlet can be fixed through a lock catch, the cover plate is closed in a lock catch closed state, and the cover plate is opened in a lock catch opened state. Based on this, the base station can control the motion of motion towards the drain, and the hasp of closure drain apron is opened in the top, and then opens the apron of drain, and sewage in the sewage bucket flows into the drain groove on the base station through the entry portion of drain and drain groove, and external drain that is finally connected by the drain groove is with sewage drainage sewer or other sewage passageway, realizes the blowdown.

In order to judge whether the sewage bucket emptying process is finished, a threshold value of the sewage bucket time period required for emptying from full water can be preset on the base station, based on the threshold value, the sewage bucket time period is counted at the beginning of the sewage bucket emptying operation, and when the sewage bucket time period reaches the preset sewage time period threshold value, the sewage bucket emptying operation is determined to be finished. At this time, in the specific embodiments A3-A4, the base station may send a notification message to the cleaning device that the sewage tank is empty, so as to instruct the cleaning device to perform self-cleaning on the floor brush or inform the cleaning device to enter the next step; in embodiments A1-A2, the base station may begin performing the bilge tank flushing operation.

In the above embodiments A1 to A2, after the step (2) is performed, the process proceeds to the step (3). Wherein, in the first self-cleaning process of the sewage bucket, one implementation process of the sewage bucket flushing includes: under the condition that the sewage outlet of the sewage bucket is opened, the base station controls the flushing device for flushing the sewage bucket to start moving towards the sewage outlet (for example upwards) until the flushing device stretches into the sewage bucket and reaches a designated position, then the flushing device starts to reciprocate, the sewage bucket is flushed in the reciprocating motion process, and liquid for flushing the sewage bucket flows into the sewage tank through the sewage outlet and the inlet part of the sewage tank and is discharged, so that flushing of the sewage bucket is realized; and when the flushing times reach the set first time number threshold value or the flushing time reaches the set first time length threshold value, ending the flushing action, and restoring the flushing device for flushing the sewage bucket to the original position. For example, the first time threshold may be 3 times, 5 times, or the like, and the first time threshold may be 3s, 7s, 10s, or the like, which is not limited.

Wherein, in the first self-cleaning process of the sewage bucket, another implementation process of the sewage bucket flushing includes: the water storage barrel is also communicated with the water injection port of the sewage barrel, the base station controls the water storage barrel to inject clean liquid into the sewage barrel through the water injection port of the sewage barrel, preferably, the liquid can be injected into a first designated position of the sewage barrel through the water injection port, the first designated position is a relatively higher position of the sewage barrel, such as a barrel cover position, so that the liquid can be in a downward injection state from a high position, the aim of flushing the sewage barrel is fulfilled, and finally, the liquid injected into the sewage barrel flows to the sewage outlet and flows out to the sewage draining groove through the sewage outlet and the inlet part of the sewage draining groove. Alternatively, the water filling opening of the sewage tank may be provided at the bottom bracket of the sewage tank, and for this arrangement, the liquid may be allowed to reach the first designated position in the sewage tank by a larger water pressure or a larger amount of water, but is not limited thereto. Alternatively, in another alternative embodiment, a water filling port may be formed at a higher position of the sewage tank, for example, near a side wall of the tank cover, or near the tank cover, so that the liquid is filled into the sewage tank through the water filling port, and a state of spraying from a higher position to a lower position may be achieved.

In order to judge whether the washing process of the sewage bucket is finished, a first washing frequency threshold value or a first time length threshold value required in the first self-cleaning process of the sewage bucket can be preset on the base station; based on this, the number of times of flushing or flushing time of the wastewater tank is counted at the beginning of the wastewater tank flushing operation, and when the number of times of flushing or flushing time of the wastewater tank reaches a preset first flushing number threshold or first time threshold, it is determined that the wastewater tank flushing operation is ended. Alternatively, in the solution of flushing the wastewater tank based on the flushing device, the base station may also detect whether the flushing device is returned to the original position to determine whether the wastewater tank flushing operation is ended, and determine that the wastewater tank flushing operation is ended when detecting that the flushing device is returned to the original position. In the scheme of performing the flushing operation on the sewage bucket through the flushing device, the flushing times can be determined according to the reciprocating times of the flushing device, for example, the reciprocating times are the flushing times when the reciprocating times are calculated once, or the reciprocating times are the flushing times when the reciprocating times are calculated twice, and the like. Of course, in the solution of performing the flushing operation of the sewage tank by the flushing device, the flushing time period may also be counted, and the end of the flushing operation is determined when the flushing time period reaches the first time period threshold. Accordingly, in the scheme of injecting liquid into the sewage tank through the water storage tank to perform flushing operation on the sewage tank, the time period of injecting the liquid into the sewage tank from the water storage tank (simply referred to as water injection time period) can be counted, and when the water injection time period reaches a set first water injection time period threshold value, the end of the flushing operation of the sewage tank is determined. At this time, in embodiments A1-A2, the base station may send a notification message to the cleaning device that the bilge tank flushing is complete to instruct the cleaning device to self-clean the floor brush.

After the first self-cleaning of the sewage bucket is completed, the method enters the step (4) in the specific embodiments A1-A4 to perform self-cleaning on the ground brush. The cleaning equipment determines that the floor brush needs to be self-cleaned according to a notification message sent by the base station that the sewage bucket is emptied or cleaned, and then the cleaning equipment controls the water cleaning bucket and the main motor to alternately execute water outlet operation and water pumping operation on the cleaning assembly or the accommodating groove so as to realize the self-cleaning of the floor brush.

Specifically, the floor brush self-cleaning includes two stages, namely a first stage and a second stage. In the first stage, the cleaning device controls the water cleaning barrel to output a specified amount of liquid to the accommodating groove in the first water outlet operation, specifically controls the floor brush motor to turn on the water pump, so that clean liquid in the water cleaning barrel is sprayed to the accommodating groove by a specified amount through a first water conveying pipeline (the first water conveying pipeline comprises a pipeline from the water cleaning barrel to a nozzle on the cleaning assembly and the nozzle); and after waiting for the third period of time, controlling the main motor to perform first pumping operation at a fourth period of time, namely sucking the sewage generated by soaking the floor brush back to the sewage bucket through the suction channel, wherein the suction process lasts for the fourth period of time. Wherein the purpose of waiting for the third period of time is to allow the liquid to soak the brush sufficiently, and the first stage is to output a specified amount of liquid from the water tub in order to allow a sufficient amount of liquid to soak the brush.

In an alternative embodiment, the threshold value of the liquid amount released by the clean water bucket for the first time in the self-cleaning process of the floor brush can be preset, a water amount detection sensor is arranged in the accommodating groove of the base, the water amount detection sensor is used for detecting whether the liquid amount released by the clean water bucket reaches the set threshold value of the liquid amount, and when the set threshold value of the liquid amount is reached, the clean water bucket is controlled to stop releasing clean liquid, and the liquid amount is considered to reach the designated amount required by soaking the floor brush. Or in another alternative embodiment, a threshold value of the time period for the clean water bucket to release the liquid for the first time in the self-cleaning process of the floor brush, for example, a third time period threshold value, is preset, and when the time period for the clean water bucket to release the clean liquid reaches the third time period threshold value, the clean water bucket is controlled to stop releasing the clean liquid, so that the liquid amount reaches the designated amount required for soaking the floor brush at the moment.

In the second stage, the water outlet operation and the water pumping operation are alternately performed by controlling the water cleaning barrel and the main motor according to the first time length and the second time length which are respectively corresponding to each other, for example, the water cleaning barrel performs the water outlet operation each time according to the first time length, and then the main motor performs the water pumping operation according to the second time length, wherein the water pumping operation refers to pumping liquid released by the water cleaning barrel into the sewage barrel through the pumping channel.

The water outlet operation and the water pumping operation are alternately executed for a plurality of times until reaching a preset second time threshold, or the water outlet operation and the water pumping operation are alternately executed for a plurality of times until reaching a specified second time threshold, or the water outlet operation and the water pumping operation are alternately executed for a plurality of times until the sewage bucket is in a water full state again, so that self-cleaning of the floor brush is completed. The first duration and the second duration may be the same, for example, both 1s, 3s, etc. Alternatively, the first time period and the second time period are different, preferably the second time period is longer than the first time period, for example, the first time period may be 1s, the second time period may be 2s, the first time period may be 2s, the second time period may be 3s, and so on. Accordingly, the value of the fourth duration is not limited, and may be, for example, 5s, 7s, or the like, alternatively, the fourth duration may be greater than the second duration, but is not limited thereto. The fourth time period is related to the amount of the specified first water outlet, and is longer if the specified first water outlet is larger, and shorter if the specified first water outlet is smaller. Correspondingly, the longer the first time length is, the more water is required to be pumped, so the longer the second time length is, the shorter the first time length is, the less water is required to be pumped, and the shorter the second time length is.

In this embodiment, the value of the third period is not limited to the above, and may be, for example, 3s, 5s, 10s, 20s, etc., and the third period may be a preset value, or may be flexibly set according to the dirt level of the floor brush. A soil degree sensor can be arranged on the floor brush, and the soil degree of the floor brush is collected through the soil degree sensor and reported to a processing system of the cleaning equipment; or, the cleaning equipment can be provided with a camera, the image of the floor brush is collected through the camera, and the cleaning equipment or the service end identifies the image to obtain the dirt degree information of the floor brush. After the soil program information of the floor brush is obtained, the third time period may be set according to the soil degree information of the floor brush, and the third time period may also be referred to as a soaking time period of the floor brush. Besides the image of the ground brush collected by the camera on the cleaning device, the image of the ground brush can also be collected by the camera on the base station or the camera on other terminal devices (such as a mobile phone provided with the cleaning device APP) and uploaded to a server for image recognition, which is not limited.

In the self-cleaning process of the floor brush, the clean liquid released by the clean water barrel is used for soaking the cleaning component for a certain time, so that dirt on the floor brush can be dissolved in advance, and dirt which is difficult to clean can be removed, and the floor brush can be cleaned better; in addition, a certain time is reserved, and more liquid released by the clear water barrel can be accumulated, so that when the main motor works, enough liquid can flush the suction channel (such as a hose) to clean the whole air channel better.

Furthermore, when the self-cleaning end condition of the local brush is that the sewage bucket is in a water full state again, more dirty dirt in the sewage bucket can be further taken away, a certain burden is reduced for the subsequent secondary self-cleaning process of the sewage bucket, the cleaning effect is enhanced, and the water consumption is saved.

In an alternative embodiment, the clean water bucket is provided with the electrolyzed water preparation equipment, the cleaning equipment can control the electrolyzed water preparation equipment to prepare electrolyzed water for a period of time, and then the water pump is turned on by the floor brush motor to enable the electrolyzed water in the clean water bucket to be sprayed out of a specified amount through the nozzle on the cleaning assembly, so that the floor brush can be soaked and cleaned by using the electrolyzed water, and the sterilization effect can be achieved.

In this embodiment, when the self-cleaning end condition of the floor brush is that the number of times of alternately performing the water outlet operation and the water pumping operation reaches the second time threshold, the cleaning device may count the number of times of alternately performing the water outlet operation and the water pumping operation in the self-cleaning process of the floor brush, and determine that the self-cleaning operation of the floor brush is ended when the second time threshold is reached, send a notification message of completion of self-cleaning of the floor brush to the base station to instruct the base station to enter the secondary self-cleaning process of the sewage tank. Or under the condition that the self-cleaning end condition of the floor brush is that the time for alternately executing the water outlet operation and the water pumping operation reaches a second time threshold, in the self-cleaning process of the floor brush, the cleaning equipment can count the time for alternately executing the water outlet operation and the water pumping operation, and when the time for alternately executing the water outlet operation and the water pumping operation reaches the second time threshold, the self-cleaning end of the floor brush is determined, and a notification message for the self-cleaning completion of the floor brush is sent to the base station so as to instruct the base station to enter the secondary self-cleaning process of the sewage bucket. Or in the case that the self-cleaning end condition of the floor brush is that the sewage bucket is in the water full state again, the cleaning equipment can also detect the state of the sewage bucket in the self-cleaning process of the floor brush, and when the sewage bucket is determined to be in the water full state again, determine that the self-cleaning of the floor brush is ended, send a notification message of the self-cleaning completion of the floor brush to the base station so as to instruct the base station to enter the secondary self-cleaning process of the sewage bucket.

After the self-cleaning operation of the floor brush is completed, the secondary self-cleaning process of the sewage bucket is entered in each of the above-described embodiments A1 to A4, but the secondary cleaning process of the sewage bucket is different in the above-described embodiments A1 to A4. Specifically, in embodiments A1 and A3, steps (5) - (7) are sequentially performed, namely, the wastewater tank is filled first, the wastewater tank is emptied after the wastewater tank is filled, and the wastewater tank is flushed after the wastewater tank is emptied; in embodiments A2 and A4, steps (6) and (7) are performed sequentially, i.e. the bilge tank is emptied first, followed by a bilge tank flush.

In the embodiments A1 and A3, since the self-cleaning of the floor brush will not normally be performed in a state of full water, water can be directly injected into the sewage tank, and the foregoing manner 1 and 2 are referred to for the manner of injecting water into the sewage tank, and will not be repeated here.

In embodiments A1-A4, each includes a step (6) of bilge tank emptying and a step (7) of bilge tank flushing. The specific implementation flow and the parameters related to the step (6) are the same as those of the step (2), and are not described herein. The specific implementation flow of the step (7) is the same as that of the step (3), and will not be described here again. Step (7) belongs to the sewage bucket flushing operation in the secondary self-cleaning process, and step (3) belongs to the sewage bucket flushing operation in the primary self-cleaning process, wherein the two flushing parameters can be the same or different.

For example, in the wastewater tank flushing operation of step (7), when the condition for the end of the flushing operation may be set to a third time threshold or a third time period threshold, based on which, during the execution of step (7), in a case where the wastewater outlet of the wastewater tank is opened, the base station controls the flushing device on the base station to start moving upward until reaching into the wastewater tank and reaching a designated position, and then starts to reciprocate, flushing the wastewater tank during the reciprocation; and when the flushing times reach a set third time threshold or the flushing time reaches a set third duration threshold, ending the flushing action, and restoring the flushing device for flushing the sewage bucket to the original position. For example, the third time threshold may be 5 times, 8 times, 10 times, etc., and the third time period threshold may be 5s, 10s, 15s, etc., which is not limited. Of course, in the execution of step (7), the base station may also detect whether the flushing device returns to the original position to determine whether the flushing operation is finished, and determine that the flushing operation is finished when detecting that the flushing device returns to the original position again, otherwise, the re-operation is not finished yet. In the scheme of performing the flushing operation on the sewage bucket through the flushing device, the flushing times can be determined according to the reciprocating times of the flushing device, for example, the reciprocating times are the flushing times when the reciprocating times are calculated once, or the reciprocating times are the flushing times when the reciprocating times are calculated twice, and the like. Of course, in the solution of performing the flushing operation on the sewage tank by the flushing device, the flushing time period may also be counted, and when the flushing time period reaches the third time period threshold value, the end of the flushing operation is determined. Accordingly, in the scheme of injecting liquid into the sewage tank through the water storage tank to perform flushing operation on the sewage tank, the time period of injecting liquid into the sewage tank from the water storage tank (simply referred to as water injection time period) can be counted, and when the water injection time period reaches a set second water injection time period threshold value, the end of the flushing operation of the sewage tank is determined.

Optionally, the number of times of flushing the wastewater tank may be greater or the flushing time may be longer during the second self-cleaning of the wastewater tank, for example, the third time threshold may be greater than the first time threshold, or the third time period threshold may be greater than the first time period threshold, or the second water injection time period threshold may be greater than the first water injection time period threshold, relative to the number of times of flushing or the flushing time in the first self-cleaning, to ensure the cleaning effect of the wastewater tank. However, the third time threshold is not limited to be greater than the first time threshold, or the third time threshold is greater than the first time threshold, or the second water injection time threshold is greater than the first water injection time threshold, and if the number of times of flushing is enough or the flushing time is long enough in the first self-cleaning process, and a certain cleaning effect has been achieved on the sewage tank, then in the second self-cleaning process, fewer times of flushing or flushing time or water injection time can be used, so long as the sewage tank can be ensured to be cleaned in the second self-cleaning process.

Further, in the above embodiments A1 to A4, after the step (7) is performed, the base station controls the movement mechanism of the opening and closing sewage tank to move in a direction away from the sewage outlet of the sewage tank, thereby closing the cover plate of the sewage outlet of the sewage tank, closing the latch of the sewage tank to lock the sewage tank, and then sending a notification message of complete machine cleaning completion to the cleaning device, so that the cleaning device knows that complete machine self-cleaning is completed.

Further, as shown in the embodiment of fig. 8b, after the complete machine of the complete cleaning apparatus is cleaned, step 34 may be entered to perform self-cleaning on the drain tank on the base station. Specifically, as shown in fig. 9f, there is a third water supply line 219 between the water storage tank 211 and the sewage tank 213, and a switch valve lever is provided on the third water supply line 219, optionally, the switch valve lever is provided in the water storage tank for opening or closing the third water supply line 219; after the sewage tank is thoroughly cleaned, the base station controls the valve rod in the water storage tank 211 to be opened, the water storage tank releases clean liquid, the clean liquid directly flows to the sewage tank 213 through the third water supply pipeline 219 connected with the sewage tank, the sewage tank 213 is washed, and the liquid after washing the sewage tank flows into a sewer through the sewer connecting pipe connected with the sewage tank 213, so that self-cleaning of the sewage tank is realized. In fig. 9f, the grey arrow lines indicate the flow of liquid when the drain tank is flushed.

In the above embodiments A1-A4, after flushing the drain tank, the cleaning assembly may also be sterilized by turning on a UV lamp provided on the base station. Optionally, the UV lamp is arranged on a base of the base station, and is used for emitting ultraviolet rays with sterilization, and is used for carrying out irradiation sterilization on the cleaning component (particularly the floor brush) so as to prevent bacteria from breeding on the floor brush; in addition, the UV lamp also has the functions of heating and drying the cleaning assembly, and accelerates the drying speed of the floor brush. Furthermore, a set of drying system can be additionally arranged on the base, and the system comprises a heating module arranged in the base, a diversion channel and an exhaust hole arranged in the accommodating groove, wherein the exhaust hole is communicated with the diversion channel; after the drying system is started, the heating module starts to work to generate hot air, the hot air reaches the air outlet through the flow guide channel, the hot air is blown out from the air outlet towards the cleaning assembly, and the cleaning assembly can be dried simultaneously in the process of sterilizing the cleaning assembly by UV and the like.

In the self-cleaning process of the whole machine, the cleaning equipment can also detect the water level state of the clean water barrel through a group of electrode plates in the clean water barrel, wherein the electrode plates are used for detecting whether the clean water barrel is in a water full state, the tail end positions of the electrode plates represent the water full state of the clean water barrel, and in the water full state, the group of electrode plates can generate an electric signal representing the water full state; in a non-water full state, the electric signal is not generated; the cleaning apparatus may determine whether the fresh water tub is in a water full state according to whether the electric signal is received. When the clear water barrel is not in a water full state, the cleaning equipment sends indication information that the clear water barrel is not in the water full state to the base station, and the base station injects water to the clear water barrel through the water storage tank according to the information, specifically, a water injection valve communicated with the water storage tank is opened, so that clean liquid in the water storage tank flows to the clear water barrel through the water injection valve and a water injection port of the clear water barrel, and the aim of injecting water to the clear water barrel is fulfilled. In the process, when the water level information of the water purifying barrel exceeds the tail end position of the electrode slice, the electrode slice generates an electric signal which indicates that the water purifying barrel is in a water full state and sends the electric signal to a processing system of the cleaning equipment; the cleaning device judges whether the water cleaning barrel is in a water full state according to whether the electric signal is received or not. In the water injection process to the clear water barrel, when the cleaning equipment receives the electric signal generated by the electrode plate, the cleaning equipment sends indication information that the clear water barrel is in a water full state to the base station, and the base station closes the water injection valve according to the indication information, so that water injection to the clear water barrel is stopped.

In the above embodiment, when the clean water bucket is not in the water full state, the base station is required to fill the clean water bucket, so that the clean water bucket is always kept in the water full state, but the present invention is not limited thereto. For example, two groups of electrode plates can be arranged in the clean water barrel, the tail end position of the first group of electrode plates is lower than the tail end position of the second group of electrode plates, namely, the tail end position of the first group of electrode plates is closer to the bottom position of the clean water barrel, the tail end position of the second group of electrode plates is closer to the top position of the shoulder clean water barrel, the first group of electrode plates are used for detecting the lowest water level of the clean water barrel, and the second group of electrode plates are used for detecting the water full state of the clean water barrel. When the water level in the clean water bucket is lower than the tail end position of the first group of electrode plates, the first group of electrode plates are disconnected, an electric signal generated by the first group of electrode plates can be informed, the cleaning equipment can judge that the water level of the clean water bucket is lower than the lowest water level according to the disappearance of the electric signal, and then a water injection request is sent to the base station, so that the base station injects water into the clean water bucket through the water storage tank. Along with continuous water injection, the water level in the clean water barrel gradually rises, when the water level rises to the tail end position of the second group of electrode plates, the second group of electrode plates are conducted to generate an electric signal, at the moment, the cleaning equipment can judge that the water level of the clean water barrel exceeds the highest water level according to the electric signal, namely, the clean water barrel is in a water full state, and then a notification message that the clean water barrel is in the water full state is sent to the base station, so that the base station stops water injection to the clean water barrel.

Further alternatively, a plurality of groups of electrode plates can be further arranged, the tail end positions of different electrode plates are positioned at different positions in the clean water barrel, a plurality of water level detection can be performed on the clean water barrel, and whether water needs to be injected into the clean water barrel is judged according to the detection result of each water level.

In the above embodiments A1 to A4, in the case that the wastewater tank is not in a water full state, the reason why the water injection of step (1) into the wastewater tank is performed is as follows: after the cleaning device performs floor cleaning, the dirt level in the waste water tank may be serious, and some solid waste or waste adhered to the tank wall may be in the waste water tank, so that the waste water tank is filled with water first, which is helpful for flushing the waste on the tank wall from the tank wall or discharging the drier and sticky waste, and therefore, the waste water tank needs to be filled before the waste water tank is emptied to be beneficial for dirt discharge.

The reason for performing steps (1) - (3) prior to step (4) is: before the self-cleaning of the floor brush, the sewage bucket is emptied and primarily cleaned, the dirt recovered from the cleaning ground of the cleaning equipment is discharged and the residual dirt in the sewage bucket is washed away, so that the sewage bucket is in a relatively clean state, the floor brush of the cleaning equipment is then self-cleaned, the dirt degree at the moment is generally lighter than the dirt recovered from the cleaning ground, and the subsequent re-washing of the recycling bin becomes relatively easy because the sewage bucket is pre-cleaned, so that the floor brush is convenient to self-clean. If the sewage bucket is in a water full or full state, the floor brush cannot be self-cleaned or the self-cleaning of the floor brush cannot be completed at one time, so that the cleaning efficiency is low. On the other hand, since the user is not finished cleaning the floor while the sewage tank is full and/or the fresh water tank is empty, the user may only need to empty the sewage tank to fill the fresh water tank instead of brushing the floor self-cleaning, and thus steps (1) - (3) are performed before step (4).

In addition, in the embodiments A1 and A2, the reason for providing the step (3) between the steps (2) to (4) is that: the floor cleaning is performed by the cleaning device, although the sewage bucket is emptied in the step (2), the sewage recovered by the cleaning device for cleaning the floor may be heavy, the sewage bucket may still be dirty, the sewage brought by the floor cleaning is washed away firstly, and the sewage bucket is more easily washed clean when the sewage bucket is washed in the step (7) after the step (4).

It should be noted that, in the embodiments of the present application, in the case that a display screen is provided on the main body of the cleaning apparatus, the display screen may display what stage the cleaning process of the whole machine is currently, and the progress condition of the cleaning process of the whole machine (for example, specifically performed step information), and these stage information and step information may be sent to the cleaning apparatus by the base station, and the cleaning apparatus may display the stage and step information through the display screen, so that the user may know the current cleaning stage and step.

Fig. 10 is a schematic flow chart of a self-cleaning method of a cleaning device described from the perspective of the cleaning device according to an embodiment of the present application. As shown in fig. 10, the method includes:

51. determining whether the sewage bucket is in a water full state in a case that the cleaning device is docked with the base station;

52. Sending indication information of whether the sewage bucket is in a water full state to the base station so that the base station carries out first self-cleaning on the sewage bucket according to the indication information;

53. when a cleaning instruction sent by a base station is received, self-cleaning the ground brush, wherein the cleaning instruction is sent by the base station under the condition that the first self-cleaning of the sewage bucket is determined to be finished;

54. and sending a notification message of the completion of the self-cleaning of the floor brush to the base station so that the base station can continuously perform secondary self-cleaning on the sewage bucket.

In an alternative embodiment, the cleaning apparatus body is further provided with a water cleaning tank, and the method further includes: under the condition that the floor brush is positioned in the accommodating groove on the base station base, receiving a water injection instruction sent by the base station, controlling the water-cleaning bucket to inject water into the accommodating groove through the first water supply pipeline and inject water into the sewage bucket through the suction channel until the sewage bucket is in a water full state, and communicating the accommodating groove with the first water supply pipeline and the suction channel.

In an alternative embodiment, the self-cleaning of the floor brush comprises: controlling the water purifying barrel to output a specified amount of liquid to the accommodating groove in the first water outlet operation, and controlling the main motor to perform the first water pumping operation on the accommodating groove in the fourth time after waiting for the third time; and controlling the water purifying barrel and the main motor to alternately perform water outlet and water pumping operations according to the first time length and the second time length which correspond to each other until the self-cleaning finishing condition of the floor brush is met.

In an alternative embodiment, the method further comprises: detecting whether the water tank is in a water full state or not, and sending indication information of whether the water tank is in the water full state or not to the base station so as to enable the base station to perform water injection treatment on the water tank.

For detailed implementation of the above method steps, reference may be made to the description of the foregoing system embodiments, which are not repeated here.

In addition to the above methods and systems, embodiments of the present application provide a base station and a cleaning device. The structure of the base station may refer to the embodiment shown in fig. 1a, 1b or 2, and the details of the steps that may be executed by the base station in the above embodiments may be realized by executing the computer program stored in the memory by the controller in the base station, and the details of the steps of the methods are also referred to the above embodiments, and are not repeated herein.

Similarly, the structure of the cleaning apparatus may be referred to in the embodiment shown in fig. 1a, 1b or 2, and the processing system in the cleaning apparatus may implement the steps that may be performed by the cleaning apparatus in the above method embodiments, and the detailed description of the method steps is referred to in the foregoing embodiments, which are not repeated herein.

A specific scenario example 1 is given below:

after the user finishes the work such as floor cleaning by using the cleaning equipment, the cleaning equipment is put back on the base of the base station and is in butt joint with the base station. And under the condition that the base station detects that the base station is in butt joint with the cleaning equipment, starting a complete machine self-cleaning process of the cleaning equipment. The base station controls the water storage barrel to fill the sewage barrel with clean water until the sewage barrel is full of water, and controls the driving mechanism to open the cover plate on the sewage outlet of the sewage barrel for sewage drainage, and sewage flows into the sewer through the sewage drainage groove; after sewage is discharged for 10 seconds, the flushing device for flushing the sewage bucket is driven to rise to a designated position in the sewage bucket, repeated up-and-down movement is started, clear water is sprayed out in the repeated up-and-down movement process (for example, the flushing device can be provided with a rotary spray head for spraying water towards the periphery or a plurality of spray heads for spraying water towards different directions towards the periphery) so as to flush all positions in the sewage bucket; after flushing the wastewater tank 30s, the flushing device returns to the original position (i.e., reset); at this time, the moving mechanism for opening and closing the sewage bucket is driven to move in the reverse direction, so that the cover plate is closed to close the sewage bucket. Then, the cleaning apparatus is notified that the self-cleaning of the floor brush is ready. The cleaning equipment starts to prepare electrolyzed water in the clean water bucket for 30s, the clean water bucket sprays a certain amount of electrolyzed water through a nozzle on the cleaning component, and after soaking the rolling brush for 15s, the main motor is driven to work for 3s so as to suck sewage into the sewage bucket; then, the clear water bucket sprays water for 1s to the accommodating groove through the nozzle, the main motor is driven to work for 1s, after the main motor circulates for several times in sequence, finally, the main motor pumps the sewage in the accommodating groove into the sewage bucket completely, and the floor brush is air-dried, so that self-cleaning of the floor brush and the whole air duct is completed. Then, driving the motion mechanism to move towards the sewage outlet of the sewage bucket again, opening a cover plate on the sewage outlet to carry out sewage, driving a flushing device for flushing the sewage bucket to rise to a designated position in the sewage bucket after sewage is discharged for 10 seconds, starting flushing the sewage bucket, and returning the flushing device to an initial position (namely resetting) after flushing the sewage bucket for 30 seconds; at this time, the moving mechanism for opening and closing the sewage bucket is driven to move in the reverse direction, so that the cover plate is closed to close the sewage bucket. Finally, the water storage tank on the base station is drained to flush the sewage draining tank, and the whole self-cleaning process is completed. In the whole process, the user does not need to clean the cleaning equipment, so that the purpose that the hands of the user are not stained is achieved.

Here, the base station automatically starts the whole cleaning process for the cleaning device in the case that the cleaning device is docked with the base station, but is not limited thereto. For example, after the user places the cleaning device on the base station, a voice command to start the overall cleaning process may be sent to the base station and/or the cleaning device via a voice signal. The voice command for starting the whole machine cleaning flow can be sent towards the base station, and then the base station sends a control command to the cleaning equipment so that the cleaning equipment enters the whole machine cleaning flow and completes the whole machine cleaning flow in cooperation with the base station; or, the voice command for starting the whole machine cleaning flow can be sent out by facing the cleaning equipment, and then the cleaning equipment sends a notification message to the base station so that the base station enters the whole machine cleaning flow and completes the whole machine cleaning flow in cooperation with the cleaning equipment; or, the voice command for starting the whole machine cleaning flow can be sent out simultaneously by facing the cleaning equipment and the base station, and the cleaning equipment and the base station enter the whole machine cleaning flow simultaneously. For another example, after the user places the cleaning device on the base station, the user may send an instruction to start the complete machine cleaning process to the cleaning device or the base station through a self-cleaning button on the display screen of the cleaning device or a self-cleaning button on the display screen of the base station, so as to start the complete machine cleaning process. Of course, the user can also send an instruction for starting the whole machine cleaning process to the cleaning equipment or the base station through a physical button on the cleaning equipment or the base station, so that the whole machine cleaning process is started.

In addition to the above-mentioned self-cleaning of the cleaning apparatus 10 by the cleaning apparatus 10 and the base station 20 in cooperation with each other according to a unified overall cleaning procedure, the method procedure provided in the following embodiments may also be used to perform overall self-cleaning of the cleaning apparatus 10. The whole self-cleaning process is applied to the self-cleaning system shown in fig. 1a, 1b or 2, and can be completed by the cooperation of the base station 20 and the cleaning device 10. As shown in fig. 11a, the overall cleaning process includes:

step 61, under the condition that the cleaning equipment is in butt joint with the base station, acquiring the current water level state of the sewage bucket;

step 62, determining a first target complete machine cleaning flow adapted to the current water level state from target complete machine cleaning flows corresponding to different water level states;

step 63, performing overall self-cleaning on the cleaning equipment according to a first target overall cleaning process, wherein each target overall cleaning process comprises self-cleaning of a sewage tank and self-cleaning of a floor brush.

It should be noted that, the

steps

61 and 62 may be performed by the base station, and the step 63 may be performed by the base station and the cleaning apparatus, and the specific matching process may be described in the following detailed embodiments.

In the present embodiment, the water level state of the wastewater tank is divided into several categories, and the categories and the number of the divided water level states are not limited. For example, the water level state of the wastewater tank may be classified into three types, i.e., an empty tank state, a full water state, and a water-filled but not full state; the water level state of the sewage bucket can be divided into two types, namely a water full state and a water not full state; alternatively, the water level state of the wastewater tank may be classified into two types, that is, a water level greater than a set water level threshold (including a full water state) and a water level less than or equal to the set water level threshold (including an empty water tank state). The set water level threshold may be a 70% water level position, an 80% water level position, an 85% water level position, or a 90% water level position of the wastewater tank, which is not limited.

In the embodiment of the application, for different water level states, different target complete machine cleaning processes can be set, wherein the target complete machine cleaning process refers to a complete machine cleaning process which can be finally used in the water level state; each target complete machine cleaning process comprises self-cleaning of a sewage tank and self-cleaning of a ground brush, so that complete machine self-cleaning of cleaning equipment is realized. For different target complete machine cleaning processes, at least one self-cleaning process is different between the self-cleaning of the sewage tank and the self-cleaning of the floor brush. The same self-cleaning process in the whole machine cleaning process with different targets can be different in operation steps contained in the self-cleaning process, or different in operation parameters related in the self-cleaning process, or different in operation steps and operation parameters.

The water level states of the sewage barrels are different, the working time of the cleaning equipment is represented to a certain extent, and in general, the longer the working time is, the higher the water level of the sewage barrels is. And the longer the cleaning device is operated, the more serious the dirt level of the dirt drum, the cleaning assembly (in particular the floor brush in the cleaning assembly) of the cleaning device. In this embodiment, different target complete machine cleaning processes are set for different water level states, which is equivalent to cleaning requirements for different dirt levels to a certain extent, and different complete machine cleaning processes are configured. For example, in less severe situations (i.e., low or unsatisfied wastewater tank levels), some whole machine cleaning processes with fewer operating steps or relatively smaller operating parameters may be used; conversely, for the case of serious dirt (i.e. the case of high water level or full water in the sewage tank), the whole machine cleaning process with more working steps or relatively larger working parameters can be used. Therefore, different complete machine cleaning processes can be selected according to different dirt levels, the self-cleaning requirement of the complete machine can be met, unnecessary operation steps can be reduced according to the cleaning requirements of different dirt programs, electric quantity is saved, and the service lives of cleaning equipment and base stations are prolonged.

In this embodiment, in case that the cleaning apparatus is docked with the base station, the base station obtains a current water level state of the sewage bucket; then, determining a target complete machine cleaning process adapted to the current water level state from target complete machine cleaning processes corresponding to different water level states, and for convenience of description and distinction, the target complete machine cleaning process adapted to the current water level state is called a first target complete machine cleaning process; and then, performing complete machine self-cleaning on the cleaning equipment according to a first target complete machine cleaning process.

The detailed manner of the base station for acquiring the current water level state of the sewage bucket is the same as or similar to the manner of the base station for acquiring whether the sewage bucket is in a water full state in the above embodiment, and the water level state can be detected by the cleaning device through the electrode pad for detecting the water level information and provided to the base station. It should be noted that in this embodiment, more groups of electrode plates may be disposed in the wastewater tank according to the number of divisions of the water level states, so as to implement detection of different water level states.

In an alternative embodiment, the water level states of the wastewater tank may be divided into two types, i.e., a first water level state and a second water level state. In one application scenario, the first water level state includes a water full state and the second water level state includes a water not full state. In another application scenario, the first water level state includes a state where the water level is greater than the set water level threshold (in this scenario, the state includes a water full state), and the second water level state includes a state where the water level is less than or equal to the set water level threshold (in this scenario, the state includes an empty tub state).

Based on the classification of the water level states, determining a first target complete machine cleaning process adapted to the current water level state from the target complete machine cleaning processes corresponding to different water level states, including:

when the current water level state is a first water level state, determining a target complete machine cleaning flow corresponding to the first water level state as a first target complete machine cleaning flow; and when the current water level state is the second water level state, determining a target complete machine cleaning process corresponding to the second water level state as a first target complete machine cleaning process. The target complete machine cleaning flow corresponding to the first water level state and the target complete machine cleaning flow corresponding to the second water level state are not completely identical, and may be at least one of different operation steps and different operation parameters.

It should be noted that, the cleaning process of the target whole machine corresponding to different water level states may include the same self-cleaning process with the first granularity, or may include the self-cleaning process with the first granularity. The following description is given of the scene:

in an application scenario B1, a target complete machine cleaning process corresponding to different water level states sequentially includes: the first self-cleaning of the sewage bucket, the self-cleaning of the ground brush and the second self-cleaning of the sewage bucket. In the application scenario, the target complete machine cleaning process corresponding to the first water level state sequentially comprises: the first self-cleaning of the sewage bucket, the self-cleaning of the ground brush and the second self-cleaning of the sewage bucket. The target complete machine cleaning flow corresponding to the second water level state also sequentially comprises: the first self-cleaning of the sewage bucket, the self-cleaning of the ground brush and the second self-cleaning of the sewage bucket. The first self-cleaning of the sewage bucket and the self-cleaning of the floor brush are called as the second self-cleaning of the sewage bucket with the first granularity. From the perspective of the included self-cleaning processes of the first granularity, the two target complete machine cleaning processes are identical, and the difference is that at least one self-cleaning process is different in the three self-cleaning processes of the first granularity (namely the self-cleaning process of the sewage bucket for the first time, the self-cleaning process of the ground brush and the secondary self-cleaning process of the sewage bucket). The difference of the self-cleaning process mainly refers to that the same self-cleaning process with the first granularity is different in detailed implementation for different target complete machine cleaning processes, and can be different in operation steps contained in the self-cleaning process, different in operation parameters related in the self-cleaning process, and different in operation steps and operation parameters.

In the application scenario B1, under any water level state, the sewage bucket is firstly self-cleaned for the first time, sewage in the sewage bucket is emptied through the first self-cleaning, so that on one hand, the effect of cleaning the sewage bucket is achieved, on the other hand, the sewage bucket can also have enough space to accommodate sewage generated in the self-cleaning process of the floor brush, the self-cleaning process of the floor brush is ensured to be completed once and can not be interrupted due to the full water of the sewage bucket, the self-cleaning efficiency of the floor brush is improved, and the self-cleaning efficiency of the whole machine is further improved.

In another application scenario B2, according to the different water level states, the self-cleaning process of the first granularity sequentially included in the cleaning process of the corresponding target whole machine is different. Taking the first water level state and the second water level state as examples, the target complete machine cleaning process corresponding to the first water level state sequentially includes: the first self-cleaning of the sewage bucket, the self-cleaning of the ground brush and the second self-cleaning of the sewage bucket; the target complete machine cleaning flow corresponding to the second water level state sequentially comprises: self-cleaning of the floor brush, and secondary self-cleaning of the sewage bucket.

In the application scenario B2, under the condition that the sewage bucket is in a water full state or the water level is higher, the sewage in the sewage bucket can be firstly self-cleaned, and the sewage in the sewage bucket is emptied through the first self-cleaning, so that on one hand, the effect of cleaning the sewage bucket is achieved, on the other hand, the sewage bucket can be provided with enough space to accommodate sewage generated in the self-cleaning process of the floor brush, the self-cleaning process of the floor brush is ensured to be completed once without being interrupted due to the water full state of the sewage bucket, the self-cleaning efficiency of the floor brush is improved, and the self-cleaning efficiency of the whole machine is further improved. Under the lower condition of sewage bucket water level, indicate that the sewage bucket has enough space to hold the sewage that the scrubbing brush produced from the cleaning process, consequently can directly carry out the self-cleaning to the scrubbing brush, later carry out the self-cleaning to the sewage bucket, through reducing the link of self-cleaning, can reduce the interaction between basic station and the cleaning equipment, be favorable to improving complete machine self-cleaning efficiency.

The definition and description of the self-cleaning process of the first granularity related to the application scenarios B1 and B2 are the same as the self-cleaning process of the same concept in the foregoing embodiments, and the foregoing embodiments may be referred to and will not be repeated herein. From the foregoing description of the self-cleaning process of each first granularity in the foregoing embodiment, it can be appreciated that there may be a plurality of different implementations of the self-cleaning process of each first granularity, for example, the foregoing embodiments A1-A4, and these different implementations may form a plurality of candidate complete machine cleaning flows in this embodiment. That is, in the embodiment of the present application, each water level state corresponds to a plurality of candidate complete machine cleaning processes, and different candidate complete machine cleaning processes are not completely identical.

Based on this, before determining the first target complete machine cleaning process adapted to the current water level state from the target complete machine cleaning processes corresponding to different water level states, it is necessary to determine, for different water level states, the corresponding target complete machine cleaning process from a plurality of candidate complete machine cleaning processes corresponding to the first target complete machine cleaning process, where the target complete machine cleaning process is a complete machine cleaning process that is ultimately used for each water level state. The process of determining the target complete machine cleaning flow for each water level state can be finished in advance, can be finished in real time in the self-cleaning process of the cleaning equipment, and can also be preset before the equipment leaves the factory, so that the target complete machine cleaning flow corresponding to each water level state can be directly built in when the equipment leaves the factory.

The implementation of determining the target overall cleaning procedure for each water level state is the same or more detailed, and the implementation of determining the target overall cleaning procedure for the first or second water level state will be described below with respect to the application scenario B1 and the application scenario B2.

For the application scenario B1, before determining the target complete machine cleaning flow adapted to the first water level state as the first target complete machine cleaning flow, the method further includes: and determining a target complete machine cleaning process corresponding to the first water level state from the plurality of candidate complete machine cleaning processes corresponding to the first water level state. In the application scenario B1, each candidate complete machine cleaning flow sequentially includes: the first self-cleaning of the sewage bucket, the self-cleaning of the ground brush and the second self-cleaning of the sewage bucket; and for different candidate complete machine cleaning processes, at least one self-cleaning process is different in the first self-cleaning of the sewage bucket, the self-cleaning of the ground brush and the secondary self-cleaning of the sewage bucket. The differences here may be differences in the working steps involved in the self-cleaning process and/or in the working parameters involved.

Further, continuing with the above embodiments, the first self-cleaning of the wastewater tank in each candidate complete machine cleaning process may include performing a wastewater tank emptying step; or includes sequentially performing the steps of bilge tank emptying and bilge tank flushing. Correspondingly, the secondary self-cleaning of the sewage bucket in each candidate complete machine cleaning process is carried out, or the steps of sewage bucket water injection, sewage bucket emptying and sewage bucket flushing are sequentially carried out; or includes sequentially performing the steps of bilge tank emptying and bilge tank flushing. In the present embodiment, the operation steps involved in self-cleaning of the floor brush may be considered to be the same for each water level state, but are not limited thereto.

Based on the above, the first self-cleaning implementation manner of the sewage bucket and the second self-cleaning implementation manner of the sewage bucket are combined, so that a plurality of candidate complete machine cleaning processes corresponding to the first water level state can be obtained, and the method specifically comprises the following steps:

candidate complete machine cleaning process a1: sequentially comprises (P1) sewage bucket emptying, (P2) sewage bucket flushing, (P3) self-cleaning of a floor brush, (P4) sewage bucket water injection, (P5) sewage bucket emptying and (P6) sewage bucket flushing;

candidate complete machine cleaning process a2: sequentially comprises (P1) sewage bucket emptying, (P3) self-cleaning of a ground brush, (P4) sewage bucket water injection, (P5) sewage bucket emptying and (P6) sewage bucket flushing;

candidate complete machine cleaning process a3: sequentially comprises (P1) sewage bucket emptying, (P3) self-cleaning of a ground brush, (P5) sewage bucket emptying and (P6) sewage bucket flushing;

candidate complete machine cleaning process a4: comprising (P1) emptying of the sewage bucket, (P2) flushing of the sewage bucket, (P3) self-cleaning of the floor brush, (P5) emptying of the sewage bucket and (P6) flushing of the sewage bucket in sequence.

Further, a target whole machine cleaning process corresponding to the first water level state may be determined from the above-described candidate whole machine cleaning processes a1 to a 4. The detailed implementation of determining the target complete machine cleaning process corresponding to the first water level state from the plurality of candidate complete machine cleaning processes includes, but is not limited to, the following:

Mode C1: displaying a first setting page, wherein the first setting page comprises detailed information of a plurality of candidate complete machine cleaning processes corresponding to a first water level state; and responding to the selection operation on the first setting page, and determining the selected candidate complete machine cleaning process as a target complete machine cleaning process corresponding to the first water level state. The detailed information of the candidate complete machine cleaning flow comprises the name of the candidate complete machine cleaning flow, the included operation steps, the related operation parameters, the corresponding water level state and other information. The display form of the first setting page is not limited, different subareas can be distinguished, different tag pages can be embedded, and each tag page or each subarea displays detailed information of a candidate complete machine cleaning flow.

The first setting page can be displayed on a display screen of the base station, the first setting page can be displayed on a display screen of the cleaning device, and the first setting page can be displayed on a display screen of the terminal device where the APP bound with the cleaning device or the base station is located. The transmission of the page information and the detailed information of the candidate complete machine cleaning process may be involved when the first setting page is displayed on the display screen of the cleaning device or the terminal device, and the transmission process is not limited.

Mode C2: determining target cleaning force according to a water level value corresponding to the current water level state; determining a candidate complete machine cleaning process matched with the target cleaning force from a plurality of candidate complete machine cleaning processes corresponding to the first water level state as a target complete machine cleaning process corresponding to the first water level state; wherein, the cleaning forces corresponding to the cleaning processes of different candidate complete machines are different.

In the mode C2, the cleaning forces of the plurality of candidate complete machine cleaning processes are distinguished. Specifically, the cleaning strength of each candidate complete machine cleaning process can be determined according to the number of operation steps included in each candidate complete machine cleaning process and the related operation parameters. Further, the cleaning force can be divided into a plurality of grades according to the number of the candidate complete machine cleaning processes, for example, the cleaning force is first-stage cleaning force, second-stage cleaning force, third-stage cleaning force and the like from small to large or from large to small in sequence. Generally, the more the number of operation steps, the larger the operation parameters, and the stronger the cleaning strength corresponding to the candidate complete machine cleaning flow. In addition, in this embodiment, the base station may not only obtain the water level state of the sewage tank, but also obtain a specific water level value corresponding to the water level state, and for different water level values in the same water level state, may further distinguish the working time length of the cleaning device, where the working time length corresponding to different water level values is different, and the higher the water level value, the longer the working time length, the higher the dirt degree, and the stronger the cleaning force is required. Based on the above, the water level value can be divided into a corresponding number of numerical intervals according to the number of the candidate complete machine cleaning processes, and then the corresponding relation between each water level value interval and the cleaning force is established. Further, according to the water level value corresponding to the current water level state, inquiring the corresponding relation, determining a water level value interval in which the water level value corresponding to the current water level state is located, and taking the cleaning force corresponding to the water level value interval as a target cleaning force; and determining a candidate complete machine cleaning process matched with the target cleaning force from the plurality of candidate complete machine cleaning processes corresponding to the first water level state as a target complete machine cleaning process corresponding to the first water level state.

Mode C3: before the equipment leaves the factory, determining a target complete machine cleaning process corresponding to the first water level state from a plurality of candidate complete machine cleaning processes corresponding to the first water level state in a certain mode in advance, and setting the target complete machine cleaning process in a base station or cleaning equipment.

For the application scenario B1, before determining the target complete machine cleaning flow adapted to the second water level state as the second target complete machine cleaning flow, the method further includes: and determining a target complete machine cleaning process corresponding to the second water level state from the plurality of candidate complete machine cleaning processes corresponding to the second water level state. The process is the same as the process of determining the target complete machine cleaning flow corresponding to the first water level state, and will not be described again.

Here, in the application scenario B1, the operation steps included in the target complete machine cleaning process corresponding to the different water level states may be the same, for example, the target complete machine cleaning process corresponding to the first water level state is the candidate complete machine cleaning process a1, and the target complete machine cleaning process corresponding to the second water level state is the candidate complete machine cleaning process a1. For this case, the operation parameters involved in the different target complete machine cleaning processes are at least partially different, for example, in the process of filling water into the sewage bucket, the number of times of filling water, the water filling amount or the water filling time period can be different, for example, in the process of flushing the sewage bucket, the number of times of flushing and the flushing time period can be different, so that different complete machine cleaning processes are formed. Further alternatively, following the above embodiment, the above operation parameters may be associated with cleaning forces corresponding to the overall cleaning process, so as to form overall cleaning processes with different cleaning forces, so as to facilitate selection of the overall cleaning process according to the required cleaning forces.

For the application scenario B2, before determining the target complete machine cleaning flow adapted to the first water level state as the first target complete machine cleaning flow, the method further includes: and determining a target complete machine cleaning process corresponding to the first water level state from the plurality of candidate complete machine cleaning processes corresponding to the first water level state. Since the first water level state in the application scenario B2 is the same as the first water level state in the application scenario B1 in definition, the process of determining the target overall cleaning flow corresponding to the first water level state is also the same as that in the application scenario B1, and will not be described again here.

For the application scenario B2, before determining the target complete machine cleaning flow adapted to the second water level state as the second target complete machine cleaning flow, the method further includes: and determining a target complete machine cleaning process corresponding to the second water level state from the plurality of candidate complete machine cleaning processes corresponding to the second water level state. In the application scenario B1, each candidate complete machine cleaning process corresponding to the second water level state sequentially includes: self-cleaning of the floor brush and the sewage bucket; and for different candidate complete machine cleaning processes, at least one self-cleaning process is different in the self-cleaning of the floor brush and the self-cleaning of the sewage bucket. The differences here may be differences in the working steps involved in the self-cleaning process and/or in the working parameters involved.

Further, continuing with the above-described embodiment, the self-cleaning of the wastewater tank in each of the candidate complete machine cleaning processes corresponding to the second water level state, or including sequentially performing wastewater tank emptying and wastewater tank flushing steps; or includes sequentially performing the steps of filling the wastewater tank, emptying the wastewater tank, and flushing the wastewater tank; or comprises the steps of sequentially performing the steps of emptying the sewage tank and flushing the sewage tank when the sewage tank is in a full state; the steps of filling the sewage tank, emptying the sewage tank and flushing the sewage tank are sequentially performed when the sewage tank is not in a full state of water. In the present embodiment, the operation steps involved in self-cleaning of the floor brush may be considered to be the same for each water level state, but are not limited thereto.

Based on the above, the implementation manner of self-cleaning of the ground brush and self-cleaning of the sewage bucket is combined, and a plurality of candidate complete machine cleaning processes corresponding to the second water level state can be obtained, which are specifically as follows:

candidate complete machine cleaning process b1: the method sequentially comprises (P3) self-cleaning of a floor brush, (P4) water injection of a sewage bucket, (P5) emptying of the sewage bucket and (P6) flushing of the sewage bucket;

candidate complete machine cleaning process b2: comprising (P3) self-cleaning of the floor brush, (P5) emptying of the sewage bucket and (P6) flushing of the sewage bucket in sequence.

Further, a target whole machine cleaning process corresponding to the second water level state may be determined from the above-described candidate whole machine cleaning processes b1-b 2. The detailed implementation of determining the target complete machine cleaning process corresponding to the second water level state from the plurality of candidate complete machine cleaning processes is the same as the detailed implementation of determining the target complete machine cleaning process corresponding to the first water level state, and is referred to in the foregoing modes C1-C3, and will not be described herein again.

The first target complete machine cleaning process may be any one of the candidate complete machine cleaning processes a1-a4 and B1-B2, and is specifically determined according to the target complete machine cleaning processes corresponding to the two water level states, continuing to the application scene B1 and the application scene B2. The process of performing the whole machine self-cleaning on the cleaning device according to the first target whole machine cleaning process, that is, the process of performing the whole machine self-cleaning on the cleaning device according to any one of the candidate whole machine cleaning processes a1-a4 and b1-b 2.

For example, when the target complete machine cleaning process corresponding to the first water level state is the candidate complete machine cleaning process a1 and the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the first water level state, the process of performing complete machine self-cleaning on the cleaning device according to the first target complete machine cleaning process includes: sequentially performing (P1) a wastewater tank emptying, (P2) a wastewater tank flushing, (P3) self-cleaning of a floor brush, (P4) wastewater tank water filling, (P5) wastewater tank emptying, and (P6) wastewater tank flushing.

For another example, when the target complete machine cleaning process corresponding to the first water level state is the candidate complete machine cleaning process a2 and the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the first water level state, the process of performing complete machine self-cleaning on the cleaning device according to the first target complete machine cleaning process includes: sequentially performing (P1) the wastewater tank emptying, (P3) self-cleaning of the floor brush, (P4) wastewater tank water filling, (P5) wastewater tank emptying, and (P6) wastewater tank flushing.

For another example, when the target complete machine cleaning process corresponding to the first water level state is the candidate complete machine cleaning process a3 and the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the first water level state, the process of performing complete machine self-cleaning on the cleaning device according to the first target complete machine cleaning process includes: sequentially performing (P1) the drain of the wastewater tank, (P3) self-cleaning of the floor brush, (P5) the drain of the wastewater tank, and (P6) the rinse of the wastewater tank.

For another example, when the target complete machine cleaning process corresponding to the first water level state is the candidate complete machine cleaning process a4 and the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the first water level state, the process of performing complete machine self-cleaning on the cleaning device according to the first target complete machine cleaning process includes: sequentially performing (P1) a wastewater tank emptying, (P2) a wastewater tank flushing, (P3) self-cleaning of the floor brush, (P5) a wastewater tank emptying, and (P6) a wastewater tank flushing.

For another example, when the target complete machine cleaning process corresponding to the second water level state is the candidate complete machine cleaning process b1 and the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the second water level state, the process of performing complete machine self-cleaning on the cleaning device according to the first target complete machine cleaning process includes: the self-cleaning of the floor brush (P3), the filling of the wastewater tank (P4), the emptying of the wastewater tank (P5) and the flushing of the wastewater tank (P6) are sequentially performed.

For another example, when the target complete machine cleaning process corresponding to the second water level state is the candidate complete machine cleaning process b2 and the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the second water level state, the process of performing complete machine self-cleaning on the cleaning device according to the first target complete machine cleaning process includes: the self-cleaning of the floor brush (P3), the emptying of the wastewater tank (P5) and the washing of the wastewater tank (P6) are sequentially performed.

For the detailed implementation of the above-described execution of (P4) the filling of the wastewater tank, (P5) the emptying of the wastewater tank, (P6) the flushing of the wastewater tank, and (P3) the self-cleaning of the floor brush, reference is made to the foregoing embodiments, and the detailed description thereof will be omitted.

Further, in the above embodiment, further comprising: and after the last sewage bucket flushing operation is finished, the sewage tank is self-cleaned. In the application scenario B1, the last bilge tank flushing operation is a bilge tank flushing operation during a secondary self-cleaning of the bilge tank; in the application scenario B2, the last bilge tank washing operation is a bilge tank washing operation during self-cleaning of the bilge tank.

Further alternatively, in the self-cleaning process of the whole machine, when the clear water barrel is not in a water full state, the base station can also fill water into the clear water barrel so that the clear water barrel is in the water full state, and the detailed implementation process is referred to the foregoing embodiment and will not be repeated here.

FIG. 11b is a schematic flow chart of another self-cleaning method of a cleaning apparatus from the perspective of the cleaning apparatus according to an embodiment of the present application. As shown in fig. 11b, the method includes:

601. detecting a current water level state of the sewage bucket under the condition that the cleaning equipment is determined to be in butt joint with the base station;

602. the method comprises the steps that the current water level state of a sewage bucket is sent to a base station, so that the base station determines a first target complete machine cleaning flow matched with the current water level state from target complete machine cleaning flows corresponding to different water level states;

603. and carrying out complete machine self-cleaning on the cleaning equipment according to a first target complete machine cleaning process by matching with the base station, wherein each target complete machine cleaning process comprises self-cleaning of a sewage tank and self-cleaning of a floor brush.

In an alternative embodiment, the cleaning device is self-cleaned by the base station according to a first target complete cleaning procedure, including: when a cleaning instruction sent by a base station is received, self-cleaning the ground brush, wherein the cleaning instruction is directly sent by the base station after determining a first target complete machine cleaning flow or is sent under the condition that the first self-cleaning of the sewage bucket is determined to be completed; and sending a notification message of the completion of the self-cleaning of the floor brush to the base station so that the base station can continuously perform self-cleaning on the sewage bucket according to the first target complete machine cleaning process.

In addition to the above methods and systems, embodiments of the present application provide a base station and a cleaning device. The structure of the base station may refer to the embodiment shown in fig. 1a, 1b or 2, and the details of the steps that may be performed by the base station in the embodiment of the method shown in fig. 11a may be realized by executing the computer program stored in the memory by the controller in the base station, and the details of the steps of the method are also referred to the foregoing embodiments, and are not repeated herein.

Similarly, the structure of the cleaning apparatus may be referred to in the embodiment shown in fig. 1a, 1b or 2, and the processing system in the cleaning apparatus may implement the steps that may be performed by the cleaning apparatus in the method embodiment shown in fig. 11b, and the detailed description of the steps of the method is also referred to in the foregoing embodiment, and is not repeated herein.

A specific scenario example 2 is given below:

the sewage bucket state is divided into a water full state and a water non-full state, wherein the water full state corresponds to the ultra-strong complete machine cleaning process, and the water non-full state corresponds to the standard or quick complete machine cleaning process. Compared with the ultra-strong complete machine cleaning process, the standard or quick complete machine cleaning process comprises the same operation steps, but the operation parameters related to the operation steps are smaller. For example, in the ultra-strong complete machine cleaning process, the time for flushing the sewage bucket is 40s, the time for preparing electrolytic water is 40s, the time for soaking the floor brush is 30s, the time for spraying water each time is 5s, and the time for working the main motor each time is 5s; in the standard or quick complete machine cleaning process, the time for flushing the sewage bucket is 30s, the time for preparing electrolytic water is 30s, the time for soaking the floor brush is 15s, the time for spraying water each time is 1s, and the time for working the main motor each time is 1s.

Based on the above, after the user finishes the work of floor cleaning and the like by using the cleaning device, the cleaning device is put back on the base of the base station to finish the docking with the base station. And under the condition that the base station detects that the base station is in butt joint with the cleaning equipment, starting a complete machine self-cleaning process of the cleaning equipment. The base station receives the water level state of the sewage bucket reported by the cleaning equipment; if the current water level state is the water full state, selecting a super-strong complete machine cleaning process, and entering the super-strong complete machine cleaning process; and if the current water level state is the water not full state, selecting a standard or quick complete machine cleaning process, and entering the standard or quick complete machine cleaning process.

Taking the selection of the cleaning process of the super-strong complete machine as an example, the process of executing the cleaning process of the super-strong complete machine comprises the following steps: the base station controls the water storage barrel to fill the sewage barrel with clean water until the sewage barrel is full of water, and controls the driving mechanism to open the cover plate on the sewage outlet of the sewage barrel for sewage drainage, and sewage flows into the sewer through the sewage drainage groove; after sewage is discharged for 10 seconds, the flushing device for flushing the sewage bucket is driven to rise to a designated position in the sewage bucket, repeated up-and-down movement is started, clear water is sprayed out in the repeated up-and-down movement process (for example, the flushing device can be provided with a rotary spray head for spraying water towards the periphery or a plurality of spray heads for spraying water towards different directions towards the periphery) so as to flush all positions in the sewage bucket; after flushing the wastewater tank 40s, the flushing device returns to the original position (i.e., reset); at this time, the moving mechanism for opening and closing the sewage bucket is driven to move in the reverse direction, so that the cover plate is closed to close the sewage bucket. Then, the cleaning apparatus is notified that the self-cleaning of the floor brush is ready. The cleaning equipment starts to prepare electrolyzed water 40s in the clear water bucket, the clear water bucket sprays a certain amount of electrolyzed water through a nozzle on the cleaning component, and after soaking the rolling brush for 30s, the main motor is driven to work for 5s so as to suck sewage into the sewage bucket; then, the clear water bucket sprays water to the accommodating groove for 5s through the nozzle, the main motor is driven to work for 5s, after the main motor circulates for several times in sequence, finally, the main motor pumps the sewage in the accommodating groove into the sewage bucket completely, and the floor brush is air-dried, so that self-cleaning of the floor brush and the whole air duct is completed. Then, driving the motion mechanism to move towards the sewage outlet of the sewage bucket again, opening a cover plate on the sewage outlet to carry out sewage, driving a flushing device for flushing the sewage bucket to rise to a designated position in the sewage bucket after sewage is discharged for 10 seconds, starting flushing the sewage bucket, and returning the flushing device to an initial position (namely resetting) after flushing the sewage bucket for 40 seconds; at this time, the moving mechanism for opening and closing the sewage bucket is driven to move in the reverse direction, so that the cover plate is closed to close the sewage bucket. Finally, the water storage tank on the base station is drained to flush the sewage draining tank, and the whole self-cleaning process is completed. In the whole process, the user does not need to clean the cleaning equipment, so that the purpose that the hands of the user are not stained is achieved.

In another scenario, the base station receives a water level state of the sewage bucket reported by the cleaning equipment; the current water level state is displayed through the display screen of the cleaning device or the display screen of the cleaning device, so that a user can select the whole machine cleaning process to be used. After the user sees the current water level state, the user can see the optional whole machine cleaning flow through the display screen, and the scene specifically comprises: and (3) a super-strong complete machine cleaning process corresponding to the water full state and a standard or quick complete machine cleaning process corresponding to the water not full state. The user selects the whole machine cleaning flow to be used according to the current water level state. If the water is full, the cleaning flow of the super-strong complete machine can be selected; if the water is not full, a standard or quick complete machine cleaning process can be selected.

It should be noted that, when the user selects the whole machine cleaning process according to the current water level state, the user may select the whole machine cleaning process adapted to the current water level state, or may flexibly select other whole machine cleaning processes according to his own preference or actual application situation.

In the embodiments described above or below, the docking of the cleaning device with the base station mainly refers to the docking of the related structures on the two devices in positions, and further includes the docking of communication signals between the two devices.

It should be noted that, the execution subjects of each step of the method provided in the above embodiment may be the same device, or the method may also be executed by different devices. For example, the execution subject of steps 31 to 33 may be device a; for another example, the execution subject of

steps

31 and 32 may be device a, and the execution subject of step 32 may be device B; etc.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that the operations may be performed out of the order in which they appear herein or performed in parallel, the sequence numbers of the operations such as 31, 32, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.

Accordingly, the present application also provides a computer-readable storage medium storing a computer program, which when executed can implement the steps in the above-described method embodiments.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A method for self-cleaning initiation of a device, adapted to a base station, the method comprising:

detecting whether a cleaning device is located at a set position at the base station;

detecting a communication link with the cleaning device;

2. The method of claim 1, wherein detecting whether a cleaning device is located at a set location at the base station comprises:

generating an access bit signal upon sensing a trigger component on the cleaning device;

and if the access bit signal is not disappeared for the first preset time, determining that the cleaning equipment is positioned at the set position.

3. The method of claim 2, wherein the triggering element is a magnetic element; and

upon sensing a trigger component on the cleaning device, generating an access bit signal comprising:

when the magnetic piece is sensed, a sensing circuit is connected;

and generating the access bit signal when the presence of the switch-on electric signal on the sensing circuit is detected.

4. A method according to any one of claims 1 to 3, wherein detecting a communication link with the cleaning device comprises any one of:

detecting a charging signal on a charging circuit between a first charging positive electrode and a first charging negative electrode of the base station; if the charging circuit is detected to have a charging signal, determining that a communication link between the cleaning device and the charging circuit is established, wherein the communication link meets the communication requirement so as to transmit the communication signal by using the charging circuit;

monitoring whether a first electrical connection on the base station for communication receives a communication signal from the cleaning device; if a communication signal from the cleaning equipment is monitored, determining that a communication link between the cleaning equipment and the communication link meets the communication requirement;

Detecting a wireless connection signal of the cleaning device; if the wireless connection signal of the cleaning equipment is detected, a communication link is established with the cleaning equipment, and the communication link is successfully established, namely, the communication link meets the communication requirement;

detecting a wireless charging transmitting device on the base station; if the wireless charging transmitting device is detected to start working and send out a wireless charging signal, the communication link between the wireless charging transmitting device and the cleaning equipment is determined to be established, and the communication link meets the communication requirement so as to transmit the communication signal by using the wireless charging transmitting device.

5. The method as recited in claim 1, further comprising:

in response to a user entered instruction to initiate washing of a cleaning device, triggering the steps of detecting whether the cleaning device is in the set position and detecting a communication link with the cleaning device.

6. A method according to any one of claims 1 to 3, wherein a cleaning function is initiated which assists the self-cleaning of the cleaning device, including at least one of the following functions:

a function of starting water injection to the sewage bucket on the cleaning device;

a function of starting to spray cleaning liquid to a cleaning executing member of the cleaning device to infiltrate the cleaning executing member;

and after the cleaning execution piece of the cleaning equipment completes self-cleaning, starting the function of drying the cleaning execution piece.

7. A method of self-cleaning initiation of a device, suitable for cleaning a device, the method comprising:

detecting a communication link with a base station;

determining whether a set location is located at a base station;

8. The method of claim 7, wherein determining whether the set location is at the base station comprises any one of:

the access bit signal sent by the base station is received through the communication link, and when the off-bit signal sent by the base station is not received for a first time, the position of the access bit signal is determined to be at the set position;

And generating an access bit signal when a trigger component on the base station is sensed, and determining that the access bit signal is positioned at the set position if the access bit signal is not disappeared for a first preset duration.

9. A method according to claim 7 or 8, characterized in that detecting a communication link with a base station comprises any one of the following:

detecting a charging signal on a charging circuit between a second charging positive electrode and a second charging negative electrode on the cleaning device; if the charging circuit is detected to have a charging signal, determining that a communication link between the charging circuit and the base station is established, wherein the communication link meets the communication requirement so as to transmit the communication signal by using the charging circuit;

monitoring whether a second electric connection end used for communication on the cleaning equipment receives a communication signal from the base station or not, if so, determining that a communication link between the cleaning equipment and the base station is established, wherein the communication link meets the communication requirement;

detecting the wireless connection signal of the base station, if the wireless connection signal of the base station is detected, establishing a communication link with the base station, wherein the communication link is successfully established, namely, the communication link meets the communication requirement;

Detecting a wireless charging receiving device on the cleaning equipment; if the wireless charging receiving device receives the wireless charging signal, the communication link between the wireless charging receiving device and the base station is determined to be established, and the communication link meets the communication requirement so as to transmit the communication signal by using the wireless charging receiving device.

10. The method as recited in claim 7, further comprising:

in response to a user entered instruction to activate the self-cleaning function, the steps of detecting a communication link with the base station and determining if the communication link is located at a set location at the base station are activated.

11. A cleaning system, comprising:

a base station for detecting whether the cleaning device is located at a set position at the base station; detecting a communication link with the cleaning device; if the cleaning equipment is detected to be positioned at the set position and the communication link meets the communication requirement, the base station and the cleaning equipment are determined to be successfully docked; transmitting an instruction for starting a self-cleaning function to the cleaning device through the communication link; starting a cleaning function assisting the self-cleaning of the cleaning device;

12. A cleaning system, comprising:

13. A base station, comprising: the base station comprises a base station main body and a base for bearing cleaning equipment, wherein a controller and a memory are arranged on the base station main body; the memory is for storing a computer program, the controller being coupled to the memory for executing the computer program for performing the steps of the method according to any of claims 1 to 6.

14. A cleaning apparatus, comprising: an equipment body, a controller and a memory arranged on the equipment body; the memory is for storing a computer program, the controller being coupled to the memory for executing the computer program for performing the steps of the method according to any of claims 7 to 10.